Release v3.2.0

SICKAG · Feb 12, 2024 · abd4560 · abd4560
1 parent e5f7206
commit abd4560
Show file tree

Hide file tree

Showing 124 changed files with 31,051 additions and 727 deletions.
diff --git a/.gitignore b/.gitignore
@@ -134,3 +134,5 @@ test/scripts/run_win64_picoscan_emulator.cmd
 test/emulator/scandata/20230719_mrs1104_infringement/
 
 doc/20230919_sick_scan_xd_timeout_settings.pptx
+
+test/docker/archive/
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,10 +5,23 @@ features that will be removed in future versions **Removed** for deprecated feat
 **Fixed** for all bug fixes. **Security** to prompt users to update in case of closed vulnerabilities.
 
 
-## Unreleased ##
-
 ## Released ##
 
+### Release v3.2.0
+
+  - **add** IMU support for multiScan and picoScan
+  - **add** support bloom releases for ROS-2 humble
+  - **add** docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
+  - **add** PR #255, support picoScan performance profiles
+  - **changed** configuration time flag LMDscandatacfg switched off for the TiM240
+  - **fix** #218 (API reinit)
+  - **fix** #220 (Fullframe Laserscan messages multi- and picoScan)
+  - **fix** #221 (No scandata while activated scan range filter)
+  - **fix** #222 (rviz visualization of polar pointclouds)
+  - **fix** #247 (Launchfile option for laserscan topic)
+  - **fix** #256 (Clean API-exit picoScan and multiScan)
+  - **fix** #260 (Provide API-functions to query lidar status, error codes and error messages)
+
 ### Release v3.1.0
 
   - **add** IMU support for multiScan
@@ -28,7 +41,7 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
   - **add** Service for requesting contamination detection information
   - **changed** Improvements from customer tickets and documentation enhancements
   - **fix** ROS module name consistency
-	   	   
+           
 ### Release v2.10.3
   - **fix** avoid problems with min/max definition in the STL and preprocessor definitions
 

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.5)
 project(sick_scan_xd)
 
 # Emulator build options
-option(ENABLE_EMULATOR "Build emulator for offline and unittests (ON) or without emulator (OFF)" ON)
+option(ENABLE_EMULATOR "Build emulator for offline and unittests (ON) or without emulator (OFF)" OFF)
 if(CMAKE_ENABLE_EMULATOR EQUAL 1)
     set(ENABLE_EMULATOR ON CACHE BOOL "Build emulator for offline and unittests (ON) or without emulator (OFF)" FORCE) # OFF (release) or ON (development)
     message(STATUS "Option CMAKE_ENABLE_EMULATOR = ${CMAKE_ENABLE_EMULATOR}, building ${PROJECT_NAME} with emulator support, ENABLE_EMULATOR=${ENABLE_EMULATOR}")
@@ -95,9 +95,14 @@ elseif(DEFINED SICK_TARGET_ENDIANESS)
 endif()
 
 # ROS Version
+message(STATUS "ROS_VERSION precheck: ENV{ROS_VERSION}=$ENV{ROS_VERSION} ROS_VERSION=${ROS_VERSION} CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}")
+if(DEFINED CMAKE_PREFIX_PATH AND "${CMAKE_PREFIX_PATH}" STREQUAL "/opt/ros/humble")
+    set(ROS_VERSION 2)
+endif()
 if(NOT DEFINED ROS_VERSION AND DEFINED ENV{ROS_VERSION})
     set(ROS_VERSION $ENV{ROS_VERSION})
 endif()
+message(STATUS "ROS_VERSION=${ROS_VERSION}")
 add_compile_options(-D__ROS_VERSION=${ROS_VERSION})
 if(ROS_VERSION EQUAL 0)
     add_compile_options(-DROSSIMU)
@@ -111,9 +116,6 @@ endif()
 if(WIN32)
     add_compile_options(-D_WINSOCK_DEPRECATED_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -D_WIN32_WINNT=0x0A00)
     link_libraries(ws2_32)    
-else()
-    link_libraries(pthread) # std::thread requires pthread on linux
-    link_libraries(dl)      # dynamic loading of libraries
 endif()
 
 if(RASPBERRY EQUAL 1)
@@ -353,16 +355,21 @@ if(RASPBERRY EQUAL 1)
     message(STATUS "Building ${PROJECT_NAME} for raspberry without ldmrs support")
 elseif(${BUILD_WITH_LDMRS_SUPPORT} OR BUILD_WITH_LDMRS_SUPPORT EQUAL ON)
     message(STATUS "Building ${PROJECT_NAME} with LDMRS support")
-    add_compile_options(-DLDMRS_SUPPORT=1)
-    find_package(SickLDMRS REQUIRED)
-    set(LDMRS_INCLUDES ${SICK_LDMRS_INCLUDE_DIRS})
-    set(LDMRS_SOURCES driver/src/ldmrs/sick_ldmrs_config.cpp driver/src/ldmrs/sick_ldmrs_driver.cpp driver/src/ldmrs/sick_ldmrs_node.cpp)
-    set(LDMRS_TARGET_DEPENDENCIES SickLDMRS)
-    message(STATUS "LDMRS_INCLUDES: ${LDMRS_INCLUDES}")
-    message(STATUS "LDMRS_SOURCES: ${LDMRS_SOURCES}")
-    message(STATUS "LDMRS_TARGET_DEPENDENCIES: ${LDMRS_TARGET_DEPENDENCIES}")
-    message(STATUS "SICK_LDMRS_LIBRARIES: ${SICK_LDMRS_LIBRARIES}")
-    check_header_exists(${LDMRS_INCLUDES}/sick_ldmrs/manager.hpp sick_ldmrs/manager.hpp sick_ldmrs)
+    find_package(SickLDMRS QUIET)    
+    if (${SickLDMRS_FOUND})    
+        add_compile_options(-DLDMRS_SUPPORT=1)
+        set(LDMRS_INCLUDES ${SICK_LDMRS_INCLUDE_DIRS})
+        set(LDMRS_SOURCES driver/src/ldmrs/sick_ldmrs_config.cpp driver/src/ldmrs/sick_ldmrs_driver.cpp driver/src/ldmrs/sick_ldmrs_node.cpp)
+        set(LDMRS_TARGET_DEPENDENCIES SickLDMRS)
+        message(STATUS "LDMRS_INCLUDES: ${LDMRS_INCLUDES}")
+        message(STATUS "LDMRS_SOURCES: ${LDMRS_SOURCES}")
+        message(STATUS "LDMRS_TARGET_DEPENDENCIES: ${LDMRS_TARGET_DEPENDENCIES}")
+        message(STATUS "SICK_LDMRS_LIBRARIES: ${SICK_LDMRS_LIBRARIES}")
+        check_header_exists(${LDMRS_INCLUDES}/sick_ldmrs/manager.hpp sick_ldmrs/manager.hpp sick_ldmrs)
+    else()
+        message(STATUS "package SickLDMR not found, ldmrs support disabled")
+        add_compile_options(-DLDMRS_SUPPORT=0)
+    endif()
 else()
     message(STATUS "Building ${PROJECT_NAME} without ldmrs support")
 endif()
@@ -550,12 +557,12 @@ if(ROS_VERSION EQUAL 1)
         ${catkin_EXPORTED_TARGETS}
         ${${PROJECT_NAME}_EXPORTED_TARGETS})
 
-    target_link_libraries(${PROJECT_NAME}_lib ${MSGPACK11_LIBRARIES} ${catkin_LIBRARIES})
-    target_link_libraries(${PROJECT_NAME}_shared_lib ${MSGPACK11_LIBRARIES} ${catkin_LIBRARIES})
+    target_link_libraries(${PROJECT_NAME}_lib ${catkin_LIBRARIES})
+    target_link_libraries(${PROJECT_NAME}_shared_lib ${catkin_LIBRARIES})
 
     add_executable(sick_generic_caller driver/src/sick_generic_caller.cpp)
 
-    target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES})
+    target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES})
 
     #
     #  radar_object_marker (receives radar msg. and publishes marker array for rviz or similar
@@ -646,10 +653,10 @@ else() # i.e. (ROS_VERSION EQUAL 0 OR ROS_VERSION EQUAL 2)
     if(ROS_VERSION EQUAL 0)    
         # target_compile_options(${PROJECT_NAME}_shared_lib PUBLIC "-fPIC")
         # target_link_options(${PROJECT_NAME}_shared_lib PUBLIC "-fPIC")
-        target_link_libraries(${PROJECT_NAME}_shared_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES})
+        target_link_libraries(${PROJECT_NAME}_shared_lib ${SICK_LDMRS_LIBRARIES})
     endif()
     add_executable(sick_generic_caller driver/src/sick_generic_caller.cpp)
-    target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES})
+    target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES})
 
 endif()
 
@@ -718,22 +725,39 @@ if(ROS_VERSION EQUAL 2)
 endif()
 
 # Build test and usage example for sick_scan_xd_api
-add_executable(sick_scan_xd_api_test
-    driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
-    test/src/sick_scan_xd_api/sick_scan_xd_api_test.cpp
-    test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c
-    test/src/sick_scan_xd_api/toojpeg/toojpeg.cpp
-)
-target_include_directories(sick_scan_xd_api_test PUBLIC test/src/sick_scan_xd_api/toojpeg)
-if(ROS_VERSION EQUAL 1)
-    target_link_libraries(sick_scan_xd_api_test ${catkin_LIBRARIES})
-    add_dependencies(sick_scan_xd_api_test
-        ${PROJECT_NAME}_gencfg
-        ${catkin_EXPORTED_TARGETS}
-        ${${PROJECT_NAME}_EXPORTED_TARGETS})
+# For ROS-1 and ROS-2:
+# - sick_scan_xd_api_test with is deactivated by default
+#   to avoid phtread dependencies for bloom releases
+# - sick_scan_xd_api_test for development and test only
+# Native Windows and Linux (ROS_VERSION==0): 
+# - build sick_scan_xd_api_test (development, test and usage example)
+if(ROS_VERSION EQUAL 0) # build API test on native Windows or Linux
+    set(BUILD_SICK_SCAN_XD_API_TEST 1)
+elseif(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON) # i.e. development
+    set(BUILD_SICK_SCAN_XD_API_TEST 1)
+else()
+    set(BUILD_SICK_SCAN_XD_API_TEST 0)
 endif()
-if(ROS_VERSION EQUAL 0 AND NOT WIN32)
-    target_link_options(sick_scan_xd_api_test PUBLIC "LINKER:--no-as-needed") # fixes exception "Enable multithreading to use std::thread: Operation not permitted" 
+if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
+    add_executable(sick_scan_xd_api_test
+        driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
+        test/src/sick_scan_xd_api/sick_scan_xd_api_test.cpp
+        test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c
+        test/src/sick_scan_xd_api/toojpeg/toojpeg.cpp
+    )
+    target_include_directories(sick_scan_xd_api_test PUBLIC test/src/sick_scan_xd_api/toojpeg)
+    if(NOT WIN32)
+        target_link_libraries(sick_scan_xd_api_test "dl") # link with dl for dynamic library loading
+        if(ROS_VERSION EQUAL 0)
+            target_link_libraries(sick_scan_xd_api_test "pthread") # pthread required for std::thread
+            target_link_options(sick_scan_xd_api_test PUBLIC "LINKER:--no-as-needed") # fixes exception "Enable multithreading to use std::thread: Operation not permitted" 
+        elseif(ROS_VERSION EQUAL 1)
+            target_link_libraries(sick_scan_xd_api_test ${catkin_LIBRARIES})
+            add_dependencies(sick_scan_xd_api_test ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+        elseif(ROS_VERSION EQUAL 2)
+            target_link_libraries(sick_scan_xd_api_test "pthread") # pthread required for std::thread
+        endif()
+    endif()
 endif()
 
 # install sick_scan_xd_shared_lib incl. API headerfiles
@@ -762,10 +786,10 @@ if(ROS_VERSION EQUAL 1)
     install(TARGETS sick_generic_caller
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-    install(TARGETS sick_scan_xd_api_test
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-    # install(TARGETS ${PROJECT_NAME}_test RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+    if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
+        install(TARGETS sick_scan_xd_api_test
+            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+    endif()
 
     install(FILES include/sick_scan/abstract_parser.h
         include/sick_scan/sick_scan_common.h
@@ -787,14 +811,13 @@ if(ROS_VERSION EQUAL 1)
 endif()
 
 if(ROS_VERSION EQUAL 2)
-    install(TARGETS sick_generic_caller sick_scan_xd_api_test
-        DESTINATION lib/${PROJECT_NAME})
 
-    install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}_shared_lib
-        DESTINATION lib)
-
-    install(DIRECTORY launch
-        DESTINATION share/${PROJECT_NAME})
+    if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
+        install(TARGETS sick_scan_xd_api_test DESTINATION lib/${PROJECT_NAME})
+    endif()
+    install(TARGETS sick_generic_caller DESTINATION lib/${PROJECT_NAME})
+    install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}_shared_lib DESTINATION lib)
+    install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
     ament_package()        
 endif()
@@ -827,11 +850,13 @@ if((${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON) AND (NOT WIN32 OR ROS_VERSIO
     target_link_libraries(sick_scan_emulator
         ${catkin_LIBRARIES}
         ${roslib_LIBRARIES}
-        ${PROJECT_NAME}_lib
-        ${MSGPACK11_LIBRARIES} 
+        ${PROJECT_NAME}_lib 
+        ${SICK_LDMRS_LIBRARIES}
         ${LIB_JSONCPP})
     target_include_directories(sick_scan_emulator PUBLIC test test/emulator/include)
-
+    if(NOT WIN32 AND NOT ROS_VERSION EQUAL 1)
+        target_link_libraries(sick_scan_emulator "pthread") # pthread required for std::thread
+    endif()    
     if(ROS_VERSION EQUAL 1)
         install(TARGETS sick_scan_emulator
             RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
@@ -863,8 +888,11 @@ if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
         tools/test_server/src/test_server_cola_msg.cpp
         tools/test_server/src/test_server_ldmrs_msg.cpp
         tools/test_server/src/test_server_thread.cpp)
-    target_link_libraries(test_server ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES} ${LIB_JSONCPP})
+    target_link_libraries(test_server ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES} ${LIB_JSONCPP})
     target_include_directories(test_server PUBLIC test test/emulator/include)
+    if(NOT WIN32 AND NOT ROS_VERSION EQUAL 1)
+        target_link_libraries(test_server "pthread") # pthread required for std::thread
+    endif()    
     if(ROS_VERSION EQUAL 2)
         ament_target_dependencies(test_server "rclcpp" )
     endif()
@@ -876,4 +904,3 @@ if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
         tools/test_server/launch
         DESTINATION share/${PROJECT_NAME})
 endif()
-
diff --git a/FAQ.md b/FAQ.md
@@ -101,6 +101,16 @@ Summary:
 4. PC: Calculate back to system time of generation:
 System time of generation = System time of receiving - (TICK_TRANSMIT - TICK_GEN)/TICK_FREQUENCY
 
+## Laserscan messages with multiple frame ids
+
+:question: sick_scan_xd publishes laserscan messages for multiScan and picoScan with multiple frame ids and possibly inconsistent data. Which frame id is correct?
+
+:white_check_mark: By default, an echo filter is activated in the multiScan and picoScan launchfile. This echo filter suppresses multiple echos, e.g. echos from an object and a protective glass pane. The default configuration is "last echo only". In this case (i.e. one echo only), the fullframe laserscan messages on topic scan_fullframe all have identical frame ids for each layer, i.e. "world_\<layer\>". For the multiScan lidars with 16 layers, sick_scan_xd publishes laserscan messages with frame ids "world_1", "world_2" up to "world_16". For picoScan lidars with 1 layer, there is just one frame id "world_1".
+
+In case of multiple echos (i.e. echo filter is deactivated), each echo is published by a laserscan message with different frame ids "world_\<layer\>_\<echo_idx\>". For picoScan lidars with 3 echos, there are 3 frame ids "world_1_0", "world_1_1", "world_1_2" published. For multiScan lidars with 16 layers and 3 echos, there are 48 different frame ids published "world_1_0", "world_1_1", "world_1_2", "world_2_0", "world_2_1", "world_2_2", ... , "world_16_0", "world_16_1", "world_16_2". 
+
+This behaviour is intended, since a laserscan message can not contain multiple ranges for a single scan point at one azimuth angle. Therefore, there have to be different laserscan messages for each layer and each echo. Layer and echo of a laserscan message are identified by the frame id.
+
 ## Compilation errors
 
 :question: Compiler reports errors in file `/opt/ros/<distro>/include/sick_scan`
@@ -152,17 +162,6 @@ src/
 After doing this please rerun the command
 catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0
 
-:question: cmake cannot find header msgpack11.hpp
-
-:white_check_mark: You probably forgot to checkout https://github.com/SICKAG/msgpack11.git. Please clone the following repositories:
-```
-git clone https://github.com/SICKAG/libsick_ldmrs.git
-git clone https://github.com/SICKAG/msgpack11.git
-git clone https://github.com/SICKAG/sick_scan_xd.git
-```
-and rebuild. See the build instructions [Build on Linux generic without ROS](INSTALL-GENERIC.md#build-on-linux-generic-without-ros), [Build on Linux ROS1](INSTALL-ROS1.md#build-on-linux-ros1), [Build on Linux ROS2](INSTALL-ROS2.md#build-on-linux-ros2), [Build on Windows](INSTALL-GENERIC.md#build-on-windows) or [Build on Windows ROS2](INSTALL-ROS2.md#build-on-windows-ros2) for further details.
-
-
 ## rviz shows a grey point cloud
 
 :question: rviz shows a grey point cloud. The size of points can be adjusted.

diff --git a/INSTALL-GENERIC.md b/INSTALL-GENERIC.md
@@ -11,7 +11,6 @@ Run the following steps to build sick_scan_xd on Linux (no ROS required):
 2. Clone repositories https://github.com/SICKAG/libsick_ldmrs and https://github.com/SICKAG/sick_scan_xd:
    ```
    git clone https://github.com/SICKAG/libsick_ldmrs.git
-   git clone https://github.com/SICKAG/msgpack11.git
    git clone https://github.com/SICKAG/sick_scan_xd.git
    ```
 
@@ -26,17 +25,7 @@ Run the following steps to build sick_scan_xd on Linux (no ROS required):
    popd
    ```
 
-4. Build msgpack11 library (required only once for multiScan100/picoScan100):
-   ```
-   mkdir -p ./build
-   pushd ./build
-   cmake -G "Unix Makefiles" -DMSGPACK11_BUILD_TESTS=0 -DCMAKE_POSITION_INDEPENDENT_CODE=ON ../msgpack11
-   make -j4
-   sudo make install
-   popd
-   ```
-
-5. Build sick_generic_caller and libsick_scan_xd_shared_lib.so:
+4. Build sick_generic_caller and libsick_scan_xd_shared_lib.so:
    ```
    mkdir -p ./build
    pushd ./build
@@ -58,7 +47,7 @@ Note: libsick_ldmrs is only required to support LDMRS sensors. If you do not nee
    cmake -DROS_VERSION=0 -DLDMRS=0 -G "Unix Makefiles" ../sick_scan_xd
    ```
 
-Note: msgpack11 is only required to support multiScan100/picoScan100. If you do not need or want to support multiScan100/picoScan100, you can skip building msgpack. To build sick_generic_caller without multiScan100/picoScan100 support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
+Note: To build sick_generic_caller without multiScan100/picoScan100 support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
    ```
    cmake -DROS_VERSION=0 -DSCANSEGMENT_XD=0 -G "Unix Makefiles" ../sick_scan_xd
    ```
@@ -86,25 +75,12 @@ To install sick_scan_xd on Windows, follow the steps below:
    cd sick_scan_ws
    ```
 
-3. Clone repositories https://github.com/SICKAG/msgpack11.git and https://github.com/SICKAG/sick_scan_xd:
+3. Clone repository https://github.com/SICKAG/sick_scan_xd:
    ```
-   git clone https://github.com/SICKAG/msgpack11.git
    git clone https://github.com/SICKAG/sick_scan_xd.git
    ```
 
-4. Build mspack with cmake and Visual Studio 2019:
-   ```
-   mkdir sick_scan_xd\build\msgpack11
-   pushd sick_scan_xd\build\msgpack11
-   cmake -DMSGPACK11_BUILD_TESTS=0 -G "Visual Studio 16 2019" ../../../msgpack11
-   cmake --build . --clean-first --config Debug
-   cmake --build . --clean-first --config Release
-   REM open msgpack11.sln in Visual Studio 2019
-   popd
-   ```
-   For development or debugging, open file `sick_scan_xd\build\msgpack11\msgpack11.sln` in Visual Studio.
-
-5. Build sick_generic_caller and sick_scan_xd_shared_lib.dll with cmake and Visual Studio 2019:
+4. Build sick_generic_caller and sick_scan_xd_shared_lib.dll with cmake and Visual Studio 2019:
    ```
    cd sick_scan_xd
    set _os=x64
@@ -125,7 +101,7 @@ After successful build, binary files `sick_generic_caller.exe` and `sick_scan_xd
 
 Note: LDMRS sensors are currently not supported on Windows.
 
-Note: msgpack11 is only required to support multiScan100/picoScan100. If you do not need or want to support multiScan100/picoScan100, you can skip building msgpack. To build sick_generic_caller without multiScan100/picoScan100 support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
+Note: To build sick_generic_caller without multiScan100/picoScan100 support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
    ```
    cmake -DROS_VERSION=0 -DSCANSEGMENT_XD=0 -G "%_cmake_string%" ..
    ```