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picoScan API related questions #270
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Thanks for your feedback. SickScanApiWaitNextPolarPointCloudMsg should return with SICK_SCAN_API_SUCCESS, unless the lidar did not repond within the given timeout. Did you call SickScanApiWaitNextPolarPointCloudMsg with a value We recommend to register a callback via function Currently the INFO-messages from MsgPack/Compact-Exporter can not be disabled by build definition. We will add an API-function to set the log level. |
We have added API-functions SickScanApiSetVerboseLevel and SickScanApiGetVerboseLevel to set resp. get the verbose level in branch feature/api_logging on https://github.com/SICKAG/sick_scan_xd/tree/feature/api_logging . SickScanApiSetVerboseLevel and SickScanApiGetVerboseLevel sets resp. returns the verbose level. The verbose level can be 0=DEBUG, 1=INFO, 2=WARN, 3=ERROR, 4=FATAL or 5=QUIET (equivalent to ros::console::levels). Default verbose level is 1 (INFO), i.e. sick_scan_xd prints informational, warnings and error messages on the console. Logging callbacks registered with SickScanApiRegisterLogMsg will receive all informational, warnings and error messages independant of the verbose level. Call SickScanApiSetVerboseLevel(sick_scan_library, api_handle, 2) to disable sick_scan_xd info messages. See https://github.com/SICKAG/sick_scan_xd/blob/feature/api_logging/doc/sick_scan_api/sick_scan_api.md#diagnostic for details. Note that the WaitNext-functions of the API just return the next received message. For multiScan and picoScan, this can be a scan segment (i.e. a part of the full scan) or a fullframe poincloud (i.e. all scan points of a 360 degree scan). Depending on the timing, you may not receive all messages, i.e. you may e.g. receive scan points of different segments. We therefore recommend to register a message callback instead of a WaitNext-function. With a registered message callback, you will get all fullframe and segment pointcloud messages. |
Hello,
When using the SickScanApiWaitNextPolarPointCloudMsg API, the returned value (ret) is consistently 5 (timeout), as shown in the image below.
![image](https://private-user-images.githubusercontent.com/142422774/301801512-583422ea-dab0-4c88-83df-c08b305286a2.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE3NjIzMTAsIm5iZiI6MTcyMTc2MjAxMCwicGF0aCI6Ii8xNDI0MjI3NzQvMzAxODAxNTEyLTU4MzQyMmVhLWRhYjAtNGM4OC04M2RmLWMwOGIzMDUyODZhMi5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzIzJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcyM1QxOTEzMzBaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0xZDdhMDcxOTdmYjQzM2I0MmFkMmE3MzA0NmNiY2FiYjExZjhmNWFiZmFjODVkODk0MjgxM2I0NGYwN2MzZGQ5JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.RFfS-Zcem5K6hxqQXRbv2fp2o8cv4e6JTl0wXzPXh20)
![image](https://private-user-images.githubusercontent.com/142422774/301801629-dd9c86b9-4940-483f-9697-e7c87d0c1a0b.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE3NjIzMTAsIm5iZiI6MTcyMTc2MjAxMCwicGF0aCI6Ii8xNDI0MjI3NzQvMzAxODAxNjI5LWRkOWM4NmI5LTQ5NDAtNDgzZi05Njk3LWU3Yzg3ZDBjMWEwYi5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzIzJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcyM1QxOTEzMzBaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0yNTg5ODNkY2NmZmYwMDlmOTkxNjVkNzk1MzlkYmViOWMzYWU1MWI5YTNiN2Y3OTI1NWYyODE4YmIyMTUzOTdmJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.JgqHz6dFFfH42p8a-NqojBRY-3F-i0AWNo5lDcYvgtI)
Is there a method to use a callback function to determine if the scan has completed transmitting the entire cycle of data?
![image](https://private-user-images.githubusercontent.com/142422774/301801683-35207082-a927-4d98-b884-a0877b483af2.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE3NjIzMTAsIm5iZiI6MTcyMTc2MjAxMCwicGF0aCI6Ii8xNDI0MjI3NzQvMzAxODAxNjgzLTM1MjA3MDgyLWE5MjctNGQ5OC1iODg0LWEwODc3YjQ4M2FmMi5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzIzJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcyM1QxOTEzMzBaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0wYjg4MGQyZjAzY2U3MjQwZDgyOGM3ZDI4OThlMWVjNTVlN2Q5OTY5OGM0NDVmNDc4OWJiNzVmZjU4NmZiNTRhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.ckgBdQ-FOsNGxmeLw6Cq4db57Ri_jnz7YAzu1Re8RVA)
Is there a way to disable API packet logging in the build definition?
Best Regards,
-Henry
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