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(Picoscan) error message showing data missing on echo 0 #336
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Thanks for your feedback. The error message is generated by a msgpack validator, which can optionally be used to test msgpack data. This option is not supported for compact data and therefore disabled by default. Please use the default settings in the launch file for compact format, i.e.:
Laserscan messages are published in the topics |
Dear Support Team, Thankful for your support As follow the advice given, the customer have edited the new launch file with the MsgPack Validator disabled. In the attachment is the new launch file. The error message is gone. But the topic /sick_picoscan/scan_segment and /sick_picoscan/scan_fullframe still have not output publishing. The imu topic is ok. They also log the start up logs in the beginning of the startup, maybe this files will help to advice further. |
Thanks for following up. It looks like the customer uses a modified version of a TiM-581 launchfile. Please use the launchfile sick_picoscan.launch with settings for picoScan devices and run |
After using the picoScan.launch file in the package and updated to 3.4.0, the lidar scan is ok and both the readings can be read by ROS. However, under the picoscan, there are 2 topics, for the data by "fullframe" mode and "segment" mode, what is the difference between the 2 mode? From launch file,sick_picoscan.launch , stated fullframe is the data scans and segment refer to the degree of the scans, is that correct? If I want to use the scan data to create the navigation map for the navigation software, which is the mode "fullframe" mode or segement I need to use? |
Thanks for further information. picoScan provides segmented scan data, where each segment covers a part of the full scan. The "segment" topics contain the scan points of one segment. The "fullframe" topics cumulate all segments into one point cloud, which covers the full azimuth range from -138.0 to +138.0 degrees. The "fullframe scan" in topic "scan_fullframe" is recommended for navigation. |
Dear SICK Team,
Kindly need your assistance to advise on our customer's current issue.
Set the correct output port for the measurement data on the utilities of the front sensor.
The utilities can show the scanning data.
![outout](https://private-user-images.githubusercontent.com/83796875/333938462-a6a49598-8059-43e7-a1f4-ec468feff838.JPG?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTg5Mjc4MDIsIm5iZiI6MTcxODkyNzUwMiwicGF0aCI6Ii84Mzc5Njg3NS8zMzM5Mzg0NjItYTZhNDk1OTgtODA1OS00M2U3LWExZjQtZWM0NjhmZWZmODM4LkpQRz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA2MjAlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNjIwVDIzNTE0MlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTQ4NmQ2MDAxM2U5ZDA1MGVkNWM3YjAyM2M4MjhiN2NlYjQxODViZmY0YzY4NGNkNmQxOTVkMDlmNDQxZjZjMDQmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.4sIA-THo2SZIL51P3fmhWryifmKcpAoJafR-fFP_LWc)
Set the corresponding parameters in the config file and the launch file. The launch file is attached in the attachment.
Many Thanks!
Regards
Hon
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