No scandata while activated scan range filter

[reinbja]

If the scan range filter is enabled, no scandata are available. If scan range filter is disabled, scandata are available.

[rostest]

Thanks for your feedback. We will check the rangeFilter settings. Which lidar and which range filter configuration do you use?

If you are using a multiScan lidar, there are two different types of range filter settings:

• Parameter rangeFilter activates or deactivates a range filter for each pointcloud. To drop invalid points in a pointcloud (i.e. scan points with range=0), you can set rangeFilter=0.05,999,1. The configuration of cloud_unstructured_fullframe in sick_multiscan.launch shows an example:

  <!-- cloud_unstructured_fullframe: cartesian coordinates, fullframe, all echos, all layers, range filter on -->
  <param 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"/>
  

• Parameter range_min, range_max and range_filter_handling are obsolete. If these parameter are activated (i.e. range_filter_handling>0), scan points are filtered segmentwise by their distance. These global parameter filter all segment pointclouds, but disable fullframe pointclouds, since fullframe pointclouds require complete scans. To avoid confusion, these parameter will be removed in the future. Please use the new parameter rangeFilter to drop scan points with a distance below given min. range or above max. range.

[reinbja]

I am using a multiScan136. For your evaluation... the sensor was launched with no activated filters. After launching the multiScan, the rangeFilter was activated. With default setting -90° ...90° it was working, but there is a point of adjustment, where the pointcloud is freezing in rviz

Working range

• start angle theta: >= -18°
• stop angle theta: <= +75°

There is also s.th. wrong with the layer filter. If layer 1 or 16 is disabled the pointcloud is freezing as well

[rostest]

Thanks for additional informations. Compact- and msgpack-format behave different in case of angle range filters. If an angle range filter is activated, fullframe pointclouds are currently published with mspack, but not necessarily when using compact-format. We will adapt the fullframe check for compact data with angle range filters and provide an update.

[rostest]

An update is available in branch https://github.com/SICKAG/sick_scan_xd/tree/feature/issue_update, which corrects the fullframe pointclouds with activated angle range and layer filter. Please checkout this update and rebuild sick_scan_xd.