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ros-drivers / omron

ROS driver for OMRON OS32C laser scanner.
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Added reflection measurement and frequency param #18

Closed tomeurotec closed 5 years ago

tomeurotec commented 5 years ago

To be able to also read the reflectivity of the scanner, it was needed to change the way the measurements were received. Before the measurements were obtained using a UDP large open forward connection, however this could only supply the range measurements or the reflectivity measurements. To be able to receive the ranges and reflectivity at once the working is changed and TCPIP polling is used. Depending on the configured frequency the measurements are asked from the scanner.

reinzor commented 5 years ago

@mikepurvis , I would like to merge this but before I do, would changing the protocol from TCP/IP to UDP affect other things I am not aware of?

reinzor commented 5 years ago

I cannot reproduce this problem with one scanner, however, it logs the following errors on startup:

[ERROR] [1541573475.121854946]: Response packet to RR command too short: Buffer too small to deserialize value
[ERROR] [1541573475.122172318]: Exception caught requesting scan data: Packet response to RR Data Command too short
[ERROR] [1541573475.122520719]: Response packet to RR command too short: Buffer too small to deserialize value
[ERROR] [1541573475.122672710]: Exception caught requesting scan data: Packet response to RR Data Command too short