Closed visiont3lab closed 2 years ago
Configuration of edge filter and max neighbor distance by launchfile is currently not supported. We recommend to configure the filter with SOPAS ET and store the settings permanently in the lidar eeprom.
You may try to activate or set the edge filter by sending sopas commands directly to the lidar using ros service ColaMsg, which is provided by sick_scan_xd. Launch sick_scan and run e.g.
rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sMN SetAccessMode 3 F4724744'}"
rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sWN LFPedgefilter 1'}"
rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sWN LFPedgefilterMaxDist 0001'}"
rosservice call /sick_lms_4xxx/ColaMsg "{request: 'sMN Run'}"
I have not tested this command sequence, please take it just as an additional hint. Note, that setting the filter via SOPAS ET is the preferred and recommended way.
I would like to set the parameters Edge filter active and Max Neighbor distance. Is it possible to do this from the ros2 launch file sick_lms_4xxx.launch ? I am using a LMS41xxx laser.