Merge pull request #93 from SICKAG/feature/mrs6124-fix

Feature/mrs6124 fix
SICKAG · Aug 1, 2022 · c339154 · c339154
2 parents fcd2d3b + ef76ae4
commit c339154
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Showing 4 changed files with 8 additions and 5 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,6 +8,9 @@ features that will be removed in future versions **Removed** for deprecated feat
 
 ## Released ##
 
+### v2.7.5 - 
+  - **Fixed** MRS6124 pointcloud error #88
+
 ### v2.7.4 - 
   - **Fixed** ROS2 compilation error #83
 

diff --git a/driver/src/sick_generic_laser.cpp b/driver/src/sick_generic_laser.cpp
@@ -93,7 +93,7 @@
 
 #define SICK_GENERIC_MAJOR_VER "2"
 #define SICK_GENERIC_MINOR_VER "7"
-#define SICK_GENERIC_PATCH_LEVEL "4"
+#define SICK_GENERIC_PATCH_LEVEL "5"
 
 #define DELETE_PTR(p) if(p){delete(p);p=0;}
 

diff --git a/driver/src/sick_lmd_scandata_parser.cpp b/driver/src/sick_lmd_scandata_parser.cpp
@@ -80,8 +80,8 @@ namespace sick_scan
 
     /** Parse common result telegrams, i.e. parse telegrams of type LMDscandata received from the lidar */
     bool parseCommonBinaryResultTelegram(const uint8_t* receiveBuffer, int receiveBufferLength, short& elevAngleX200, double& elevationAngleInRad, rosTime& recvTimeStamp,
-        bool config_sw_pll_only_publish, bool use_generation_timestamp, SickGenericParser* parser_, bool& FireEncoder, sick_scan_msg::Encoder& EncoderMsg, int& numEchos, std::vector<float> vang_vec,
-        ros_sensor_msgs::LaserScan & msg)
+        bool config_sw_pll_only_publish, bool use_generation_timestamp, SickGenericParser* parser_, bool& FireEncoder, sick_scan_msg::Encoder& EncoderMsg, int& numEchos,
+        std::vector<float>& vang_vec, ros_sensor_msgs::LaserScan & msg)
     {
                   elevAngleX200 = 0;  // signed short (F5 B2  -> Layer 24
                   // F5B2h -> -2638/200= -13.19°

diff --git a/include/sick_scan/sick_lmd_scandata_parser.h b/include/sick_scan/sick_lmd_scandata_parser.h
@@ -70,8 +70,8 @@ namespace sick_scan
 
   /** Parse common result telegrams, i.e. parse telegrams of type LMDscandata received from the lidar */
   bool parseCommonBinaryResultTelegram(const uint8_t* receiveBuffer, int receiveBufferLength, short& elevAngleX200, double& elevationAngleInRad, rosTime& recvTimeStamp,
-    bool config_sw_pll_only_publish, bool use_generation_timestamp, SickGenericParser* parser_, bool& FireEncoder, sick_scan_msg::Encoder& EncoderMsg, int& numEchos, 
-    std::vector<float> vang_vec, ros_sensor_msgs::LaserScan & msg);
+    bool config_sw_pll_only_publish, bool use_generation_timestamp, SickGenericParser* parser_, bool& FireEncoder, sick_scan_msg::Encoder& EncoderMsg, int& numEchos,
+    std::vector<float>& vang_vec, ros_sensor_msgs::LaserScan & msg);
 
 } /* namespace sick_scan */
 #endif /* SICK_LMD_SCANDATA_PARSER_H_ */