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Slamtec / rplidar_ros

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Question: How to launch RPLidar A3 in "outdoor" mode? #37

Open milan-r-shah opened 3 years ago

milan-r-shah commented 3 years ago

The website (https://www.slamtec.com/en/Lidar/A3) says

RPLIDRA A3 supports to work under two modes alternatively: enhanced mode and outdoor mode.

However, when I checked the launch file rplidar_a3.launch, there is a parameter called scan_mode, and its value is set to Sensitivity. So, this value corresponds to which mode: enhanced mode or outdoor mode? Which string should I pass as a value to this scan_mode parameter to get outdoor mode?

eslamsherif5 commented 3 years ago

Hi, @milan-r-shah Have you found any info on this issue? I was thinking of buying a RPLiDAR A3, but I'm now very hesitated after seeing many open issues and not-to-date ros driver.

milan-r-shah commented 3 years ago

Hi @eslamsherif5 Sorry for the late reply. I haven't found the exact solution but my colleague found the following code, upon digging the SDK code:

#   define RPLIDAR_CONF_SCAN_COMMAND_STD            0
#   define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS        1
#   define RPLIDAR_CONF_SCAN_COMMAND_HQ             2
#   define RPLIDAR_CONF_SCAN_COMMAND_BOOST          3
#   define RPLIDAR_CONF_SCAN_COMMAND_STABILITY      4
#   define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY    5

So, I updated the value of scan_mode parameter in rplidar_a3.launch using above code: https://github.com/Slamtec/rplidar_ros/blob/4f899e670bec2c9e1f26b0969f2de36d23618ef3/launch/rplidar_a3.launch#L8

Hope this helps!