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Requirement of PicoScan #220

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Jonny0816 opened this issue Oct 11, 2023 · 6 comments
Closed

Requirement of PicoScan #220

Jonny0816 opened this issue Oct 11, 2023 · 6 comments

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@Jonny0816
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Dear sir
For the Picoscan hardware, customer asked for two requirements, please kindly help to check whether can support:
1.Is it possible to create a Laserscan topic like TiM5 variant? Because some customers are using TiM5 and they want to use PicoScan with the same topic.
2.This driver supports all ranging LiDAR and with too much content in it, is it possible to create the driver with series products and delete other irrelevant product content？
thanks
@rostest
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rostest commented Oct 16, 2023

Thanks for your feedback. Laserscan messages for the picoScan can be generated, if the following parameter is added in launchfile sick_picoscan.launch:

<!-- Configuration of laserscan messages (ROS only): -->
<!-- Parameter "laserscan_layer_filter" sets a mask to create laserscan messages for configured layer (0: no laserscan message, 1: create laserscan messages for this layer) -->
<!-- Use "1" to activate resp. "0" to deactivate laserscan messages (picoScan has 1 layer) -->
<param name="laserscan_layer_filter" type="string" value="1" />

By adding this parameter, laserscan messages will be published on topic "/sick_picoscan/scan_segment" with frame id "world_0". These laserscan messages are generated for each scan segment. Currently the driver does not support laserscan messages for complete fullframes (-138.0 to +138.0 degree for piocScan lidars). We will discuss optional support of fullframe laserscan messages with SICK.

sick_scan_xd is a generic driver supporting a wide range of lidars. This allows the use of several types of lidars without the need to modify the API or application. Yherefore, product specific drivers are currently not favoured.

@Jonny0816
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Thanks for the detail explanation. Customer feedback each segment laserscan is not fulfill their requirement and full frame laserscan is needed, hope can speed up the process and support the full frame laserscan asap.
Thanks

rostest added a commit that referenced this issue Oct 25, 2023
@rostest
Fullframe laserscan messages for multiScan and picoScan #220
e801448
@rostest
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rostest commented Oct 25, 2023

An update is available in branch https://github.com/SICKAG/sick_scan_xd/tree/feature/issue_update, which publishes fullframe laserscan messages for multiScan and picoScan lidars. Laserscan messages of segments are published on topic /sick_picoscan/scan_segment, laserscan messages of the fullframe scans are published on topic /sick_picoscan/scan_fullframe. Messages on both topics have frame id world_1 or -if all echos are acitivated- frame ids world_1_<echocnt>. Please checkout this update and rebuild sick_scan_xd.

@Phymin
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Phymin commented Dec 14, 2023

Hi, I have checkout the issue_update branch, but there is still no /scan_fullframe topic published, below is the output log:

[INFO] [sick_generic_caller-1]: process started with pid [11396]
[sick_generic_caller-1] [INFO] [1702553045.476448840] [sick_scan_xd]: sick_generic_caller V. 3.0.0
[sick_generic_caller-1] [INFO] [1702553045.476499501] [sick_scan_xd]: Program argument 1: /root/PrimeRobot/install/sick_scan_xd/lib/sick_scan_xd/sick_generic_caller
[sick_generic_caller-1] [INFO] [1702553045.476505896] [sick_scan_xd]: Program argument 2: /root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch
[sick_generic_caller-1] [INFO] [1702553045.476509017] [sick_scan_xd]: Program argument 3: --ros-args
[sick_generic_caller-1] [INFO] [1702553045.476512264] [sick_scan_xd]: ==========================================
[sick_generic_caller-1] [INFO] [1702553045.476607220] [sick_scan_xd]: Try loading launchfile : /root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch
[sick_generic_caller-1] [INFO] [1702553045.477178855] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["hostname"]="192.168.3.30"
[sick_generic_caller-1] [INFO] [1702553045.477186404] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["udp_receiver_ip"]="192.168.3.10"
[sick_generic_caller-1] [INFO] [1702553045.477190456] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["nodename"]="sick_picoscan"
[sick_generic_caller-1] [INFO] [1702553045.477193833] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["publish_topic"]="/cloud"
[sick_generic_caller-1] [INFO] [1702553045.477197720] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["publish_topic_all_segments"]="/cloud_fullframe"
[sick_generic_caller-1] [INFO] [1702553045.477201471] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["publish_frame_id"]="world"
[sick_generic_caller-1] [INFO] [1702553045.477204772] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["add_transform_xyz_rpy"]="0,0,0,0,0,0"
[sick_generic_caller-1] [INFO] [1702553045.477208048] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["scandataformat"]="1"
[sick_generic_caller-1] [INFO] [1702553045.477211545] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["all_segments_min_deg"]="-138.0"
[sick_generic_caller-1] [INFO] [1702553045.477214783] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["all_segments_max_deg"]="+138.0"
[sick_generic_caller-1] [INFO] [1702553045.477218305] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): default_args["custom_pointclouds"]="cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe"
[sick_generic_caller-1] [INFO] [1702553045.477274796] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="scanner_type", type="string", value="sick_picoscan"
[sick_generic_caller-1] [INFO] [1702553045.477280797] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="hostname", type="string", value="$(arg hostname)" overwritten by default value "192.168.3.30"
[sick_generic_caller-1] [INFO] [1702553045.477284595] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="hostname", type="string", value="192.168.3.30"
[sick_generic_caller-1] [INFO] [1702553045.477288019] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="port", type="int", value="2115"
[sick_generic_caller-1] [INFO] [1702553045.477291679] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="udp_receiver_ip", type="string", value="$(arg udp_receiver_ip)" overwritten by default value "192.168.3.10"
[sick_generic_caller-1] [INFO] [1702553045.477318240] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="udp_receiver_ip", type="string", value="192.168.3.10"
[sick_generic_caller-1] [INFO] [1702553045.477322494] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="udp_sender", type="string", value=""
[sick_generic_caller-1] [INFO] [1702553045.477325764] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="udp_port", type="int", value="2115"
[sick_generic_caller-1] [INFO] [1702553045.477329126] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="publish_topic", type="string", value="$(arg publish_topic)" overwritten by default value "/cloud"
[sick_generic_caller-1] [INFO] [1702553045.477332257] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="publish_topic", type="string", value="/cloud"
[sick_generic_caller-1] [INFO] [1702553045.477335788] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="publish_topic_all_segments", type="string", value="$(arg publish_topic_all_segments)" overwritten by default value "/cloud_fullframe"
[sick_generic_caller-1] [INFO] [1702553045.477339008] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="publish_topic_all_segments", type="string", value="/cloud_fullframe"
[sick_generic_caller-1] [INFO] [1702553045.477342881] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="all_segments_min_deg", type="double", value="$(arg all_segments_min_deg)" overwritten by default value "-138.0"
[sick_generic_caller-1] [INFO] [1702553045.477346002] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="all_segments_min_deg", type="double", value="-138.0"
[sick_generic_caller-1] [INFO] [1702553045.477349332] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="all_segments_max_deg", type="double", value="$(arg all_segments_max_deg)" overwritten by default value "+138.0"
[sick_generic_caller-1] [INFO] [1702553045.477352232] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="all_segments_max_deg", type="double", value="+138.0"
[sick_generic_caller-1] [INFO] [1702553045.477358350] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="publish_frame_id", type="string", value="$(arg publish_frame_id)" overwritten by default value "world"
[sick_generic_caller-1] [INFO] [1702553045.477361492] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="publish_frame_id", type="string", value="world"
[sick_generic_caller-1] [INFO] [1702553045.477365512] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="udp_input_fifolength", type="int", value="20"
[sick_generic_caller-1] [INFO] [1702553045.477368559] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_output_fifolength", type="int", value="20"
[sick_generic_caller-1] [INFO] [1702553045.477371573] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="verbose_level", type="int", value="1"
[sick_generic_caller-1] [INFO] [1702553045.477374594] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="measure_timing", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1702553045.477383815] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="export_csv", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1702553045.477388190] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="export_udp_msg", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1702553045.477391184] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="logfolder", type="string", value=""
[sick_generic_caller-1] [INFO] [1702553045.477394121] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="send_udp_start", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1702553045.477397229] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="send_udp_start_string", type="string", value="magicalActivate"
[sick_generic_caller-1] [INFO] [1702553045.477400301] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="udp_timeout_ms", type="int", value="60000"
[sick_generic_caller-1] [INFO] [1702553045.477403769] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="scandataformat", type="int", value="$(arg scandataformat)" overwritten by default value "1"
[sick_generic_caller-1] [INFO] [1702553045.477406840] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="scandataformat", type="int", value="1"
[sick_generic_caller-1] [INFO] [1702553045.477409818] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="range_min", type="double", value="0.0"
[sick_generic_caller-1] [INFO] [1702553045.477412676] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="range_max", type="double", value="120.0"
[sick_generic_caller-1] [INFO] [1702553045.477415724] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="range_filter_handling", type="int", value="0"
[sick_generic_caller-1] [INFO] [1702553045.477419252] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="add_transform_xyz_rpy", type="string", value="$(arg add_transform_xyz_rpy)" overwritten by default value "0,0,0,0,0,0"
[sick_generic_caller-1] [INFO] [1702553045.477422255] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="add_transform_xyz_rpy", type="string", value="0,0,0,0,0,0"
[sick_generic_caller-1] [INFO] [1702553045.477425318] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="sopas_tcp_port", type="string", value="2111"
[sick_generic_caller-1] [INFO] [1702553045.477429060] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="start_sopas_service", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1702553045.477432055] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="send_sopas_start_stop_cmd", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1702553045.477435024] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="sopas_cola_binary", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1702553045.477437932] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="sopas_timeout_ms", type="int", value="5000"
[sick_generic_caller-1] [INFO] [1702553045.477440915] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="client_authorization_pw", type="string", value="F4724744"
[sick_generic_caller-1] [INFO] [1702553045.477448598] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="host_read_filtersettings", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1702553045.477452134] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="host_FREchoFilter", type="int", value="0"
[sick_generic_caller-1] [INFO] [1702553045.477455143] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="host_set_FREchoFilter", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1702553045.477458123] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_enabled", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1702553045.477461037] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_verbose", type="int", value="1"
[sick_generic_caller-1] [INFO] [1702553045.477464008] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_discard_msgpacks_out_of_bounds", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1702553045.477467052] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_check_missing_scandata_interval", type="int", value="9"
[sick_generic_caller-1] [INFO] [1702553045.477470131] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_required_echos", type="string", value="0 1 2"
[sick_generic_caller-1] [INFO] [1702553045.477473149] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_azimuth_start", type="double", value="-138.0"
[sick_generic_caller-1] [INFO] [1702553045.477495704] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_azimuth_end", type="double", value="+138.0"
[sick_generic_caller-1] [INFO] [1702553045.477499446] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_elevation_start", type="double", value="0.0"
[sick_generic_caller-1] [INFO] [1702553045.477503092] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_elevation_end", type="double", value="0.0"
[sick_generic_caller-1] [INFO] [1702553045.477506835] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_valid_segments", type="string", value="0 1 2 3 4 5 6 7 8"
[sick_generic_caller-1] [INFO] [1702553045.477511278] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="msgpack_validator_layer_filter", type="string", value="1"
[sick_generic_caller-1] [INFO] [1702553045.477515561] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="custom_pointclouds", type="string", value="$(arg custom_pointclouds)" overwritten by default value "cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe"
[sick_generic_caller-1] [INFO] [1702553045.477520129] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="custom_pointclouds", type="string", value="cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe"
[sick_generic_caller-1] [INFO] [1702553045.477524313] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_segments", type="string", value="coordinateNotation=0 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477532560] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_fullframe", type="string", value="coordinateNotation=0 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_fullframe frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477537183] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_polar_unstructured_segments", type="string", value="coordinateNotation=1 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_polar_unstructured_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477541211] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_polar_unstructured_fullframe", type="string", value="coordinateNotation=1 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_polar_unstructured_fullframe frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477545003] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_echo1", type="string", value="coordinateNotation=0 updateMethod=0 echos=0 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo1 frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477548982] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_echo1_segments", type="string", value="coordinateNotation=0 updateMethod=1 echos=0 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo1_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477552784] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_echo2", type="string", value="coordinateNotation=0 updateMethod=0 echos=1 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo2 frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477559488] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_echo2_segments", type="string", value="coordinateNotation=0 updateMethod=1 echos=1 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo2_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477566207] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_echo3", type="string", value="coordinateNotation=0 updateMethod=0 echos=2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo3 frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477572628] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_echo3_segments", type="string", value="coordinateNotation=0 updateMethod=1 echos=2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo3_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477587275] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_reflector", type="string", value="coordinateNotation=0 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_reflector frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477592973] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_unstructured_reflector_segments", type="string", value="coordinateNotation=0 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_reflector_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477597299] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_structured_hires0", type="string", value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=6 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires0 frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477601441] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_structured_hires0_segments", type="string", value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=6 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires0_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477605700] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_structured_hires1", type="string", value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=14 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires1 frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477609706] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_structured_hires1_segments", type="string", value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=14 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires1_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477616672] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_structured", type="string", value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,7,8,9,10,11,12,13,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477636605] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_structured_segments", type="string", value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,7,8,9,10,11,12,13,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477642020] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_all_fields_segments", type="string", value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation,layer,echo,reflector echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_all_fields_segments frameid=world publish=1"
[sick_generic_caller-1] [INFO] [1702553045.477646172] [sick_scan_xd]: LaunchParser::parseFile(/root/PrimeRobot/install/prime_launch/share/prime_launch/launch/sick_picoscan150.launch): name="cloud_all_fields_fullframe", type="string", value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation,layer,echo,reflector echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_all_fields_fullframe frameid=world publish=1"
[sick_generic_caller-1] scanner_type                   string     sick_picoscan
[sick_generic_caller-1] hostname                       string     192.168.3.30
[sick_generic_caller-1] port                           int        2115
[sick_generic_caller-1] udp_receiver_ip                string     192.168.3.10
[sick_generic_caller-1] udp_sender                     string
[sick_generic_caller-1] udp_port                       int        2115
[sick_generic_caller-1] publish_topic                  string     /cloud
[sick_generic_caller-1] publish_topic_all_segments     string     /cloud_fullframe
[sick_generic_caller-1] all_segments_min_deg           double     -138.0
[sick_generic_caller-1] all_segments_max_deg           double     +138.0
[sick_generic_caller-1] publish_frame_id               string     world
[sick_generic_caller-1] udp_input_fifolength           int        20
[sick_generic_caller-1] msgpack_output_fifolength      int        20
[sick_generic_caller-1] verbose_level                  int        1
[sick_generic_caller-1] measure_timing                 bool       True
[sick_generic_caller-1] export_csv                     bool       False
[sick_generic_caller-1] export_udp_msg                 bool       False
[sick_generic_caller-1] logfolder                      string
[sick_generic_caller-1] send_udp_start                 bool       False
[sick_generic_caller-1] send_udp_start_string          string     magicalActivate
[sick_generic_caller-1] udp_timeout_ms                 int        60000
[sick_generic_caller-1] scandataformat                 int        1
[sick_generic_caller-1] range_min                      double     0.0
[sick_generic_caller-1] range_max                      double     120.0
[sick_generic_caller-1] range_filter_handling          int        0
[sick_generic_caller-1] add_transform_xyz_rpy          string     0,0,0,0,0,0
[sick_generic_caller-1] sopas_tcp_port                 string     2111
[sick_generic_caller-1] start_sopas_service            bool       True
[sick_generic_caller-1] send_sopas_start_stop_cmd      bool       True
[sick_generic_caller-1] sopas_cola_binary              bool       False
[sick_generic_caller-1] sopas_timeout_ms               int        5000
[sick_generic_caller-1] client_authorization_pw        string     F4724744
[sick_generic_caller-1] host_read_filtersettings       bool       True
[sick_generic_caller-1] host_FREchoFilter              int        0
[sick_generic_caller-1] host_set_FREchoFilter          bool       False
[sick_generic_caller-1] msgpack_validator_enabled      bool       False
[sick_generic_caller-1] msgpack_validator_verbose      int        1
[sick_generic_caller-1] msgpack_validator_discard_msgpacks_out_of_bounds bool       True
[sick_generic_caller-1] msgpack_validator_check_missing_scandata_interval int        9
[sick_generic_caller-1] msgpack_validator_required_echos string     0 1 2
[sick_generic_caller-1] msgpack_validator_azimuth_start double     -138.0
[sick_generic_caller-1] msgpack_validator_azimuth_end  double     +138.0
[sick_generic_caller-1] msgpack_validator_elevation_start double     0.0
[sick_generic_caller-1] msgpack_validator_elevation_end double     0.0
[sick_generic_caller-1] msgpack_validator_valid_segments string     0 1 2 3 4 5 6 7 8
[sick_generic_caller-1] msgpack_validator_layer_filter string     1
[sick_generic_caller-1] custom_pointclouds             string     cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe
[sick_generic_caller-1] cloud_unstructured_segments    string     coordinateNotation=0 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_segments frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_fullframe   string     coordinateNotation=0 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_fullframe frameid=world publish=1
[sick_generic_caller-1] cloud_polar_unstructured_segments string     coordinateNotation=1 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_polar_unstructured_segments frameid=world publish=1
[sick_generic_caller-1] cloud_polar_unstructured_fullframe string     coordinateNotation=1 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_polar_unstructured_fullframe frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_echo1       string     coordinateNotation=0 updateMethod=0 echos=0 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo1 frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_echo1_segments string     coordinateNotation=0 updateMethod=1 echos=0 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo1_segments frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_echo2       string     coordinateNotation=0 updateMethod=0 echos=1 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo2 frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_echo2_segments string     coordinateNotation=0 updateMethod=1 echos=1 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo2_segments frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_echo3       string     coordinateNotation=0 updateMethod=0 echos=2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo3 frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_echo3_segments string     coordinateNotation=0 updateMethod=1 echos=2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo3_segments frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_reflector   string     coordinateNotation=0 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_reflector frameid=world publish=1
[sick_generic_caller-1] cloud_unstructured_reflector_segments string     coordinateNotation=0 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_reflector_segments frameid=world publish=1
[sick_generic_caller-1] cloud_structured_hires0        string     coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=6 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires0 frameid=world publish=1
[sick_generic_caller-1] cloud_structured_hires0_segments string     coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=6 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires0_segments frameid=world publish=1
[sick_generic_caller-1] cloud_structured_hires1        string     coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=14 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires1 frameid=world publish=1
[sick_generic_caller-1] cloud_structured_hires1_segments string     coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=14 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires1_segments frameid=world publish=1
[sick_generic_caller-1] cloud_structured               string     coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,7,8,9,10,11,12,13,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured frameid=world publish=1
[sick_generic_caller-1] cloud_structured_segments      string     coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,7,8,9,10,11,12,13,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_segments frameid=world publish=1
[sick_generic_caller-1] cloud_all_fields_segments      string     coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation,layer,echo,reflector echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_all_fields_segments frameid=world publish=1
[sick_generic_caller-1] [WARN] [1702553045.479445454] [sick_scan_xd]: ## ERROR rosGetParam(port, 2112, NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE) failed, N6rclcpp10exceptions29InvalidParameterTypeExceptionE, exception parameter 'port' has invalid type: expected [string] got [integer]
[sick_generic_caller-1] [WARN] [1702553045.479489931] [sick_scan_xd]: ## ERROR rosGetParam(port, 2112, NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE) failed, N6rclcpp10exceptions29InvalidParameterTypeExceptionE, exception parameter 'port' has invalid type: expected [string] got [integer]
[sick_generic_caller-1] [INFO] [1702553045.479856654] [sick_scan_xd]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[sick_generic_caller-1] [INFO] [1702553045.479872855] [sick_scan_xd]: SickCloudTransform: azimuth_offset = 0 [deg]
[sick_generic_caller-1] [INFO] [1702553045.479882239] [sick_scan_xd]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[sick_generic_caller-1] [INFO] [1702553045.479887171] [sick_scan_xd]: SickCloudTransform: apply 3x3 rotation = false
[sick_generic_caller-1] [INFO] [1702553045.479892787] [sick_scan_xd]: SickCloudTransform: additional translation = (0,0,0)
[sick_generic_caller-1] [INFO] [1702553045.479897300] [sick_scan_xd]: SickCloudTransform: check_dynamic_updates = false
[sick_generic_caller-1] [INFO] [1702553045.479937179] [sick_scan_xd]: sick_scansegment_xd configuration:
[sick_generic_caller-1] [INFO] [1702553045.479944759] [sick_scan_xd]: scanner_type:                     sick_picoscan
[sick_generic_caller-1] [INFO] [1702553045.479961398] [sick_scan_xd]: udp_sender:
[sick_generic_caller-1] [INFO] [1702553045.479969752] [sick_scan_xd]: udp_port:                         2115
[sick_generic_caller-1] [INFO] [1702553045.479979074] [sick_scan_xd]: all_segments_min_deg:             -138
[sick_generic_caller-1] [INFO] [1702553045.479986428] [sick_scan_xd]: all_segments_max_deg:             138
[sick_generic_caller-1] [INFO] [1702553045.479990691] [sick_scan_xd]: publish_frame_id:                 world
[sick_generic_caller-1] [INFO] [1702553045.479994777] [sick_scan_xd]: publish_laserscan_segment_topic:  scan_segment
[sick_generic_caller-1] [INFO] [1702553045.479998913] [sick_scan_xd]: publish_laserscan_fullframe_topic:scan_fullframe
[sick_generic_caller-1] [INFO] [1702553045.480003232] [sick_scan_xd]: udp_input_fifolength:             20
[sick_generic_caller-1] [INFO] [1702553045.480007327] [sick_scan_xd]: msgpack_output_fifolength:        20
[sick_generic_caller-1] [INFO] [1702553045.480011373] [sick_scan_xd]: verbose_level:                    1
[sick_generic_caller-1] [INFO] [1702553045.480015522] [sick_scan_xd]: measure_timing:                   1
[sick_generic_caller-1] [INFO] [1702553045.480019677] [sick_scan_xd]: export_csv:                       0
[sick_generic_caller-1] [INFO] [1702553045.480023763] [sick_scan_xd]: export_udp_msg:                   0
[sick_generic_caller-1] [INFO] [1702553045.480027843] [sick_scan_xd]: logfolder:
[sick_generic_caller-1] [INFO] [1702553045.480031912] [sick_scan_xd]: hostname:                         192.168.3.30
[sick_generic_caller-1] [INFO] [1702553045.480035983] [sick_scan_xd]: udp_receiver_ip:                  192.168.3.10
[sick_generic_caller-1] [INFO] [1702553045.480040130] [sick_scan_xd]: udp_timeout_ms:                   60000
[sick_generic_caller-1] [INFO] [1702553045.480044206] [sick_scan_xd]: scandataformat:                   1
[sick_generic_caller-1] [INFO] [1702553045.480048167] [sick_scan_xd]: sopas_tcp_port:                   2111
[sick_generic_caller-1] [INFO] [1702553045.480052192] [sick_scan_xd]: start_sopas_service:              1
[sick_generic_caller-1] [INFO] [1702553045.480056222] [sick_scan_xd]: send_sopas_start_stop_cmd:        1
[sick_generic_caller-1] [INFO] [1702553045.480060281] [sick_scan_xd]: sopas_cola_binary:                0
[sick_generic_caller-1] [INFO] [1702553045.480064405] [sick_scan_xd]: sopas_timeout_ms:                 5000
[sick_generic_caller-1] [INFO] [1702553045.480068668] [sick_scan_xd]: host_read_filtersettings:         1
[sick_generic_caller-1] [INFO] [1702553045.480072666] [sick_scan_xd]: host_FREchoFilter:                0
[sick_generic_caller-1] [INFO] [1702553045.480076723] [sick_scan_xd]: host_set_FREchoFilter:            0
[sick_generic_caller-1] [INFO] [1702553045.480080622] [sick_scan_xd]: host_LFPangleRangeFilter:         0 -180.0 +180.0 -90.0 +90.0 1
[sick_generic_caller-1] [INFO] [1702553045.480084822] [sick_scan_xd]: host_set_LFPangleRangeFilter:     0
[sick_generic_caller-1] [INFO] [1702553045.480101445] [sick_scan_xd]: host_LFPlayerFilter:
[sick_generic_caller-1] [INFO] [1702553045.480106613] [sick_scan_xd]: host_set_LFPlayerFilter:          0
[sick_generic_caller-1] [INFO] [1702553045.480118299] [sick_scan_xd]: laserscan_layer_filter:           0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
[sick_generic_caller-1] [INFO] [1702553045.480122993] [sick_scan_xd]: msgpack_validator_enabled:                         0
[sick_generic_caller-1] [INFO] [1702553045.480128613] [sick_scan_xd]: msgpack_validator_verbose:                         1
[sick_generic_caller-1] [INFO] [1702553045.480133074] [sick_scan_xd]: msgpack_validator_discard_msgpacks_out_of_bounds:  1
[sick_generic_caller-1] [INFO] [1702553045.480137234] [sick_scan_xd]: msgpack_validator_check_missing_scandata_interval: 9
[sick_generic_caller-1] [INFO] [1702553045.480142129] [sick_scan_xd]: msgpack_validator_required_echos:                  0 1 2
[sick_generic_caller-1] [INFO] [1702553045.480147561] [sick_scan_xd]: msgpack_validator_azimuth_start:                   -2.40855 [rad]
[sick_generic_caller-1] [INFO] [1702553045.480152387] [sick_scan_xd]: msgpack_validator_azimuth_end:                     2.40855 [rad]
[sick_generic_caller-1] [INFO] [1702553045.480157176] [sick_scan_xd]: msgpack_validator_elevation_start:                 0 [rad]
[sick_generic_caller-1] [INFO] [1702553045.480161929] [sick_scan_xd]: msgpack_validator_elevation_end:                   0 [rad]
[sick_generic_caller-1] [INFO] [1702553045.480167523] [sick_scan_xd]: msgpack_validator_valid_segments:                  0 1 2 3 4 5 6 7 8
[sick_generic_caller-1] [INFO] [1702553045.480172207] [sick_scan_xd]: msgpack_validator_layer_filter:                    1
[sick_generic_caller-1] [INFO] [1702553045.480176905] [sick_scan_xd]: sick_scansegment_xd (sick_picoscan) started.
[sick_generic_caller-1] [INFO] [1702553045.480284140] [sick_scan_xd]: sick_scansegment_xd initializing...
[sick_generic_caller-1] [INFO] [1702553045.480329547] [sick_scan_xd]: UdpReceiverSocketImpl: udp socket created, binding to port 2115 ...
[sick_generic_caller-1] [INFO] [1702553045.480351190] [sick_scan_xd]: sick_scansegment_xd: udp socket to :2115 initialized
[sick_generic_caller-1] [INFO] [1702553045.486717408] [sick_scan_xd]: RosMsgpackPublisher: publishing LaserScan segment messages on topic "/scan_segment"
[sick_generic_caller-1] [INFO] [1702553045.486916506] [sick_scan_xd]: RosMsgpackPublisher: publishing LaserScan fullframe messages on topic "/scan_fullframe"
[sick_generic_caller-1] [INFO] [1702553045.486990799] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): publish = 1
[sick_generic_caller-1] [INFO] [1702553045.486998055] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): topic = /cloud_unstructured_segments
[sick_generic_caller-1] [INFO] [1702553045.487002098] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): frameid = world
[sick_generic_caller-1] [INFO] [1702553045.487005867] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): coordinate_notation = 0
[sick_generic_caller-1] [INFO] [1702553045.487009500] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): update_method = 1
[sick_generic_caller-1] [INFO] [1702553045.487014057] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): fields_enabled = i,x,y,z
[sick_generic_caller-1] [INFO] [1702553045.487018583] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): echos_enabled = 0,1,2
[sick_generic_caller-1] [INFO] [1702553045.487024544] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[sick_generic_caller-1] [INFO] [1702553045.487028896] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): reflector_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.487032749] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): infringed_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.487040848] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_segments): range_filter = (0.050,999.000,1)
[sick_generic_caller-1] [INFO] [1702553045.487541696] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): publish = 1
[sick_generic_caller-1] [INFO] [1702553045.487555728] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): topic = /cloud_unstructured_fullframe
[sick_generic_caller-1] [INFO] [1702553045.487563314] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): frameid = world
[sick_generic_caller-1] [INFO] [1702553045.487570838] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): coordinate_notation = 0
[sick_generic_caller-1] [INFO] [1702553045.487577571] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): update_method = 0
[sick_generic_caller-1] [INFO] [1702553045.487607225] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): fields_enabled = i,x,y,z
[sick_generic_caller-1] [INFO] [1702553045.487615316] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): echos_enabled = 0,1,2
[sick_generic_caller-1] [INFO] [1702553045.487622045] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[sick_generic_caller-1] [INFO] [1702553045.487626543] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): reflector_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.487630602] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): infringed_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.487637947] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): range_filter = (0.050,999.000,1)
[sick_generic_caller-1] [INFO] [1702553045.487919697] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): publish = 1
[sick_generic_caller-1] [INFO] [1702553045.487933263] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): topic = /cloud_polar_unstructured_segments
[sick_generic_caller-1] [INFO] [1702553045.487940835] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): frameid = world
[sick_generic_caller-1] [INFO] [1702553045.487945138] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): coordinate_notation = 1
[sick_generic_caller-1] [INFO] [1702553045.487959802] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): update_method = 1
[sick_generic_caller-1] [INFO] [1702553045.487966284] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): fields_enabled = azimuth,elevation,i,range
[sick_generic_caller-1] [INFO] [1702553045.487970918] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): echos_enabled = 0,1,2
[sick_generic_caller-1] [INFO] [1702553045.487977018] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[sick_generic_caller-1] [INFO] [1702553045.487981328] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): reflector_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.487985405] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): infringed_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.487992499] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): range_filter = (0.050,999.000,1)
[sick_generic_caller-1] [INFO] [1702553045.488250912] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): publish = 1
[sick_generic_caller-1] [INFO] [1702553045.488264176] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): topic = /cloud_polar_unstructured_fullframe
[sick_generic_caller-1] [INFO] [1702553045.488271479] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): frameid = world
[sick_generic_caller-1] [INFO] [1702553045.488278345] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): coordinate_notation = 1
[sick_generic_caller-1] [INFO] [1702553045.488285003] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): update_method = 0
[sick_generic_caller-1] [INFO] [1702553045.488292568] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): fields_enabled = azimuth,elevation,i,range
[sick_generic_caller-1] [INFO] [1702553045.488300115] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): echos_enabled = 0,1,2
[sick_generic_caller-1] [INFO] [1702553045.488311291] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[sick_generic_caller-1] [INFO] [1702553045.488318950] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): reflector_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.488326584] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): infringed_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.488338109] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): range_filter = (0.050,999.000,1)
[sick_generic_caller-1] [INFO] [1702553045.488590177] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): publish = 1
[sick_generic_caller-1] [INFO] [1702553045.488617922] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): topic = /cloud_all_fields_fullframe
[sick_generic_caller-1] [INFO] [1702553045.488626580] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): frameid = world
[sick_generic_caller-1] [INFO] [1702553045.488633765] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): coordinate_notation = 3
[sick_generic_caller-1] [INFO] [1702553045.488640544] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): update_method = 0
[sick_generic_caller-1] [INFO] [1702553045.488650319] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): fields_enabled = azimuth,echo,elevation,i,layer,range,reflector,x,y,z
[sick_generic_caller-1] [INFO] [1702553045.488658983] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): echos_enabled = 0,1,2
[sick_generic_caller-1] [INFO] [1702553045.488668863] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[sick_generic_caller-1] [INFO] [1702553045.488674194] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): reflector_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.488681136] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): infringed_enabled = 0,1
[sick_generic_caller-1] [INFO] [1702553045.488692272] [sick_scan_xd]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): range_filter = (0.000,999.000,0)
[sick_generic_caller-1] [INFO] [1702553045.489107403] [sick_scan_xd]: MsgPackThreads: Start msgpack converter, udp receiver and msgpack exporter, receiving from :2115
[sick_generic_caller-1] [INFO] [1702553045.489173430] [sick_scan_xd]: MsgPackThreads: initializing sopas tcp (192.168.3.30:2111, timeout:5, binary:0)
[sick_generic_caller-1] [INFO] [1702553045.490794125] [sick_scan_xd]: Publishing lidar pointcloud2 to cloud
[sick_generic_caller-1] [INFO] [1702553045.490811229] [sick_scan_xd]: Publishing on topic "cloud", qos=0
[sick_generic_caller-1] [INFO] [1702553045.490994379] [sick_scan_xd]: Publishing on topic "sick_multiscan/imu", qos=0
[sick_generic_caller-1] [INFO] [1702553045.491407179] [sick_scan_xd]: Publishing on topic "sick_multiscan/encoder", qos=0
[sick_generic_caller-1] [INFO] [1702553045.492174892] [sick_scan_xd]: Publishing on topic "sick_multiscan/scan", qos=0
[sick_generic_caller-1] [INFO] [1702553045.492425158] [sick_scan_xd]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[sick_generic_caller-1] [INFO] [1702553045.492437706] [sick_scan_xd]: SickCloudTransform: azimuth_offset = 0 [deg]
[sick_generic_caller-1] [INFO] [1702553045.492445472] [sick_scan_xd]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[sick_generic_caller-1] [INFO] [1702553045.492449712] [sick_scan_xd]: SickCloudTransform: apply 3x3 rotation = false
[sick_generic_caller-1] [INFO] [1702553045.492454304] [sick_scan_xd]: SickCloudTransform: additional translation = (0,0,0)
[sick_generic_caller-1] [INFO] [1702553045.492457955] [sick_scan_xd]: SickCloudTransform: check_dynamic_updates = false
[sick_generic_caller-1] [INFO] [1702553045.492467382] [sick_scan_xd]: MsgPackThreads: initializing device
[sick_generic_caller-1] [INFO] [1702553045.492486601] [sick_scan_xd]: sick_scan_xd: Tcp::open: connecting to 192.168.3.30:2111 ...
[sick_generic_caller-1] [INFO] [1702553045.492899828] [sick_scan_xd]: sick_scan_xd Tcp::open: connected to 192.168.3.30:2111
[sick_generic_caller-1] [INFO] [1702553045.492911016] [sick_scan_xd]: MsgPackThreads: initializing services
[sick_generic_caller-1] [INFO] [1702553045.492933334] [sick_scan_xd]: SickThread TcpRecvThread started.
[sick_generic_caller-1] [INFO] [1702553045.493264835] [sick_scan_xd]: SickScanServices: service "/ColaMsg" created ("/ColaMsg")
[sick_generic_caller-1] [INFO] [1702553045.493609760] [sick_scan_xd]: SickScanServices: service "/ECRChangeArr" created ("/ECRChangeArr")
[sick_generic_caller-1] [INFO] [1702553045.493934214] [sick_scan_xd]: SickScanServices: service "/GetContaminationResult" created ("/GetContaminationResult")
[sick_generic_caller-1] [INFO] [1702553045.494254221] [sick_scan_xd]: SickScanServices: service "/LIDoutputstate" created ("/LIDoutputstate")
[sick_generic_caller-1] [INFO] [1702553045.494576475] [sick_scan_xd]: SickScanServices: service "/SCdevicestate" created ("/SCdevicestate")
[sick_generic_caller-1] [INFO] [1702553045.494901769] [sick_scan_xd]: SickScanServices: service "/SCreboot" created ("/SCreboot")
[sick_generic_caller-1] [INFO] [1702553045.495233433] [sick_scan_xd]: SickScanServices: service "/SCsoftreset" created ("/SCsoftreset")
[sick_generic_caller-1] [INFO] [1702553045.495588996] [sick_scan_xd]: SickScanServices: service "/SickScanExit" created ("/SickScanExit")
[sick_generic_caller-1] [INFO] [1702553045.495622052] [sick_scan_xd]: MsgPackThreads: ros services initialized
[sick_generic_caller-1] [INFO] [1702553045.495629981] [sick_scan_xd]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1702553045.495653449] [sick_scan_xd]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[sick_generic_caller-1] [INFO] [1702553045.496567196] [sick_scan_xd]: Receiving: <STX>sAN SetAccessMode 1<ETX>
[sick_generic_caller-1] [INFO] [1702553045.496588200] [sick_scan_xd]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1702553045.496593892] [sick_scan_xd]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1702553045.496598537] [sick_scan_xd]: SickScanServices: response: "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1702553045.496603772] [sick_scan_xd]: SickScanServices: Sending request "sRN FREchoFilter"
[sick_generic_caller-1] [INFO] [1702553045.496610601] [sick_scan_xd]: Sending  : <STX>sRN FREchoFilter<ETX>
[sick_generic_caller-1] [INFO] [1702553045.498189964] [sick_scan_xd]: Receiving: <STX>sRA FREchoFilter 1<ETX>
[sick_generic_caller-1] [INFO] [1702553045.498205979] [sick_scan_xd]: SickScanServices: Request "sRN FREchoFilter" successfully sent, received reply "sRA FREchoFilter 1"
[sick_generic_caller-1] [INFO] [1702553045.498217038] [sick_scan_xd]: SickScanServices::queryMultiScanFiltersettings(): FREchoFilter: "1" = {1}
[sick_generic_caller-1] [INFO] [1702553045.498225940] [sick_scan_xd]: SickScanServices::queryMultiScanFiltersettings(): sopas.FREchoFilter = "1", sopas.LFPangleRangeFilter = "0 -180.0 +180.0 -90.0 +90.0 1", sopas.LFPlayerFilter = ""
[sick_generic_caller-1] [INFO] [1702553045.498260390] [sick_scan_xd]: SickScanServices::queryMultiScanFiltersettings(): msgpack_validator_required_echos = { 0 1 2 }, msgpack_validator_angles = { -2.40855 2.40855 0 0 } [rad], msgpack_validator_layer_filter = { 1 }
[sick_generic_caller-1] [INFO] [1702553045.498277130] [sick_scan_xd]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1702553045.498285839] [sick_scan_xd]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[sick_generic_caller-1] [INFO] [1702553045.499165852] [sick_scan_xd]: Receiving: <STX>sAN SetAccessMode 1<ETX>
[sick_generic_caller-1] [INFO] [1702553045.499181348] [sick_scan_xd]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1702553045.499186136] [sick_scan_xd]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1702553045.499189825] [sick_scan_xd]: SickScanServices: response: "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1702553045.499196434] [sick_scan_xd]: SickScanServices: Sending request "sWN ScanDataEthSettings 1 +192 +168 +3 +10 +2115"
[sick_generic_caller-1] [INFO] [1702553045.499202930] [sick_scan_xd]: Sending  : <STX>sWN ScanDataEthSettings 1 +192 +168 +3 +10 +2115<ETX>
[sick_generic_caller-1] [INFO] [1702553045.500240920] [sick_scan_xd]: Receiving: <STX>sWA ScanDataEthSettings<ETX>
[sick_generic_caller-1] [INFO] [1702553045.500255073] [sick_scan_xd]: SickScanServices: Request "sWN ScanDataEthSettings 1 +192 +168 +3 +10 +2115" successfully sent, received reply "sWA ScanDataEthSettings"
[sick_generic_caller-1] [INFO] [1702553045.500259406] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataEthSettings 1 +192 +168 +3 +10 +2115", response: "sWA ScanDataEthSettings"
[sick_generic_caller-1] [INFO] [1702553045.500263175] [sick_scan_xd]: SickScanServices: Sending request "sWN ScanDataFormat 1"
[sick_generic_caller-1] [INFO] [1702553045.500267807] [sick_scan_xd]: Sending  : <STX>sWN ScanDataFormat 1<ETX>
[sick_generic_caller-1] [INFO] [1702553045.501212518] [sick_scan_xd]: Receiving: <STX>sWA ScanDataFormat<ETX>
[sick_generic_caller-1] [INFO] [1702553045.501223905] [sick_scan_xd]: SickScanServices: Request "sWN ScanDataFormat 1" successfully sent, received reply "sWA ScanDataFormat"
[sick_generic_caller-1] [INFO] [1702553045.501227862] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataFormat 1", response: "sWA ScanDataFormat"
[sick_generic_caller-1] [INFO] [1702553045.501231453] [sick_scan_xd]: SickScanServices: Sending request "sWN ScanDataEnable 1"
[sick_generic_caller-1] [INFO] [1702553045.501235689] [sick_scan_xd]: Sending  : <STX>sWN ScanDataEnable 1<ETX>
[sick_generic_caller-1] [INFO] [1702553045.502259028] [sick_scan_xd]: Receiving: <STX>sWA ScanDataEnable<ETX>
[sick_generic_caller-1] [INFO] [1702553045.502270982] [sick_scan_xd]: SickScanServices: Request "sWN ScanDataEnable 1" successfully sent, received reply "sWA ScanDataEnable"
[sick_generic_caller-1] [INFO] [1702553045.502285550] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataEnable 1", response: "sWA ScanDataEnable"
[sick_generic_caller-1] [INFO] [1702553045.502289845] [sick_scan_xd]: SickScanServices: Sending request "sMN LMCstartmeas"
[sick_generic_caller-1] [INFO] [1702553045.502294189] [sick_scan_xd]: Sending  : <STX>sMN LMCstartmeas<ETX>
[sick_generic_caller-1] [INFO] [1702553045.504402090] [sick_scan_xd]: Receiving: <STX>sAN LMCstartmeas 0<ETX>
[sick_generic_caller-1] [INFO] [1702553045.504415607] [sick_scan_xd]: SickScanServices: Request "sMN LMCstartmeas" successfully sent, received reply "sAN LMCstartmeas 0"
[sick_generic_caller-1] [INFO] [1702553045.504420339] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sMN LMCstartmeas", response: "sAN LMCstartmeas 0"
[sick_generic_caller-1] [INFO] [1702553045.504423870] [sick_scan_xd]: SickScanServices: Sending request "sMN Run"
[sick_generic_caller-1] [INFO] [1702553045.504427848] [sick_scan_xd]: Sending  : <STX>sMN Run<ETX>
[sick_generic_caller-1] [INFO] [1702553045.504888655] [sick_scan_xd]: Receiving: <STX>sAN Run 1<ETX>
[sick_generic_caller-1] [INFO] [1702553045.504900132] [sick_scan_xd]: SickScanServices: Request "sMN Run" successfully sent, received reply "sAN Run 1"
[sick_generic_caller-1] [INFO] [1702553045.504903642] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sMN Run", response: "sAN Run 1"
[sick_generic_caller-1] [INFO] [1702553045.590383465] [sick_scan_xd]: MsgPack/Compact-Exporter:   0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 7
[sick_generic_caller-1] [INFO] [1702553045.590423637] [sick_scan_xd]: MsgPack/Compact-Exporter: 18 udp messages received, 18 messages exported, 0% package lost.
[sick_generic_caller-1] [INFO] [1702553045.590432393] [sick_scan_xd]: MsgPack/Compact-Exporter: max. 1 udp messages buffered, max 1 export messages buffered.
[sick_generic_caller-1] [INFO] [1702553045.590447834] [sick_scan_xd]: MsgPack/Compact-Exporter: 18 messages exported at 232.184 Hz, mean time: 0.535 milliseconds/messages, stddev time: 0.587, max time: 2.853 milliseconds between udp receive and messages export, histogram=[17,0,1,0,0,0,0,0,0,0,0]
[sick_generic_caller-1] [INFO] [1702553045.695038801] [sick_scan_xd]: MsgPack/Compact-Exporter:   0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 8
[sick_generic_caller-1] [INFO] [1702553045.695071368] [sick_scan_xd]: MsgPack/Compact-Exporter: 39 udp messages received, 39 messages exported, 0% package lost.
[sick_generic_caller-1] [INFO] [1702553045.695077875] [sick_scan_xd]: MsgPack/Compact-Exporter: max. 1 udp messages buffered, max 1 export messages buffered.
[sick_generic_caller-1] [INFO] [1702553045.695089723] [sick_scan_xd]: MsgPack/Compact-Exporter: 39 messages exported at 214.073 Hz, mean time: 0.567 milliseconds/messages, stddev time: 0.557, max time: 2.853 milliseconds between udp receive and messages export, histogram=[36,1,2,0,0,0,0,0,0,0,0]
[sick_generic_caller-1] [INFO] [1702553045.795151114] [sick_scan_xd]: MsgPack/Compact-Exporter:   0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 8
[sick_generic_caller-1] [INFO] [1702553045.795189840] [sick_scan_xd]: MsgPack/Compact-Exporter: 59 udp messages received, 59 messages exported, 0% package lost.
[sick_generic_caller-1] [INFO] [1702553045.795198486] [sick_scan_xd]: MsgPack/Compact-Exporter: max. 1 udp messages buffered, max 1 export messages buffered.
[sick_generic_caller-1] [INFO] [1702553045.795214021] [sick_scan_xd]: MsgPack/Compact-Exporter: 59 messages exported at 209.003 Hz, mean time: 0.587 milliseconds/messages, stddev time: 0.527, max time: 2.853 milliseconds between udp receive and messages export, histogram=[54,2,3,0,0,0,0,0,0,0,0]
[sick_generic_caller-1] [INFO] [1702553045.895944704] [sick_scan_xd]: MsgPack/Compact-Exporter:   0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 8
[sick_generic_caller-1] [INFO] [1702553045.895982023] [sick_scan_xd]: MsgPack/Compact-Exporter: 79 udp messages received, 79 messages exported, 0% package lost.
[sick_generic_caller-1] [INFO] [1702553045.895988148] [sick_scan_xd]: MsgPack/Compact-Exporter: max. 1 udp messages buffered, max 1 export messages buffered.
[sick_generic_caller-1] [INFO] [1702553045.895999277] [sick_scan_xd]: MsgPack/Compact-Exporter: 79 messages exported at 206.219 Hz, mean time: 0.587 milliseconds/messages, stddev time: 0.521, max time: 2.853 milliseconds between udp receive and messages export, histogram=[72,3,4,0,0,0,0,0,0,0,0]

topic list:

root@prime-YL-CLU6L-V1:~# ros2 topic list
/clicked_point
/cloud
/cloud_all_fields_fullframe
/cloud_polar_unstructured_fullframe
/cloud_polar_unstructured_segments
/cloud_unstructured_fullframe
/cloud_unstructured_segments
/diagnostics
/goal_pose
/initialpose
/parameter_events
/rosout
/scan_fullframe
/scan_segment
/sick_multiscan/encoder
/sick_multiscan/imu
/sick_multiscan/scan
/tf
/tf_static

no topic data is published:
image

Could you give me some clue where would the problem is? Thanks

@Phymin
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Phymin commented Dec 14, 2023

@rostest

@Phymin
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Phymin commented Dec 15, 2023

Nerver mind, it's ok now. thanks

@rostest rostest closed this as completed Dec 18, 2023
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@Phymin @rostest @Jonny0816