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1.0.3 ROS2 driver angle setting question and Launch file parameter meaning #48
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Dear York, for the first question, I need to clarify with SICK since I am not familiar with the sensor's internal error codes.
This should not set new angles and use the originally configured angles of the safetydesigner. So, no new angles should be set. Is that what you experience? For the launch file questions: Please let me know if that answers the second question |
Hi Puck This is Tom from FARobot, I am working on this issue with our team and cooperating with York For angle setting, what I am facing is that I can set the angle using ros driver parameter, but not with persistant conf, I tried the following combinations
On further investigation, I tried to read the value of start / end angle the driver read from LiDAR, looks like it reads the value we set in SafetyDesigner with no issue (207 and -43), although the value itself is not in radient and not rotate 90 degree as requested by the driver, but it looks like the driver has taken care of it by using m_angle_offset if I understand it right, so I have no idea what went wrong. The second issue is actually discovered while investigating the first issue, when I set the the LiDAR using channel 2 in Safety Designer, I can no longer read the settings from LiDAR using the driver, I tried to read and print the LiDAR conf value by using methods defined in ConfigData class, including getStartAngle(), getEndAngle(), getEnabled() and getChannel()
So I just want to know what is the correct way to set this channel (based on your reply it is 0 in driver parameter map to channel 1 in SafetyDesigner and 1 in driver parameter map to SafetyDesigner channel 2) and if the parameter is still working or there is anyhting I did wrong Thank you in advance for the help Best, |
Dear Tom, For the angle setting, I would have assumed that case 1 and case 4 should be working; in case one, the angles from the safety designer should be used. I will have a look into it. Case 4 is the basic behavior and should work. The other two cases use values outside of the range. The values should be in radians and centered around 0. Since in the ROS world 0 usually points straight ahead. For the second part, I haven't worked that much with multiple channels; the first case with the 0 channel should be supported. However, I would have expected it to be channel 0 in ROS and channel 1 in the safety designer. What is confusing me is that I tested the sensor I have just now and was able to configure it with different channels and angles and the persistent configuration. And visualized it in rviz2. There, it seemed to be working. I first tried in the launch file:
That is visualized as a smaller area. Trial2
There, the complete area, as in my safety designer config, was shown. And when I changed the channel to 1, the same result happened in rviz2, and the output of the log told me it was the second channel, Could you verify that the behavior is similar for you there? Additionally, my sensor does not display any M1 error when configuring. Could you post maybe the exact launch file you used, so I can try to recreate the behavior? Additionally, which firmware version are you using 1.92? |
Actually, I believe there are 3 issues on the table (they might be related to each other)
I can try to recreate the situation you mentioned (one LiDAR send both channel 1 and channel 2 data to the same IPC), I will update it here when I got the result Our launch file is heavily integrated with our other component, so I might not able to share it, but I can share the parameters we used in the launch file, hope this is enough
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Hi, for the configs, one thing I am noting is that the angle_start and angle_end would need to be in radians to work, not in degrees. However, as long as you use the use_persistent_config = True, this shouldn't matter. However, if you want to set this to false, then you need to set the angles in radians. The range should be [-2.39,2.39]. With 0 pointing straight ahead.
This sounds like something in the firmware broke the channels. This is best discussed directly with SICK, I will reach out to them as well. The issue that the persistent config was not working beforehand, I will investigate further. |
Hi Support Team,
According to issue#45, FW1.92 nans3 core used 1.0.3 ROS2 driver may have angle setting issue,
Customer tried to subtract 90° on launch file angle setting and angle set was successful,
But lidar will show M1 error (0x6307000E) about communication interface type problem,
Customer didn't use the CoLa interface so it was a strange message,
And "use_persistent_config" was set "false",
If they used Safety Design angle setting and set "use_persistent_config" to "true", the angle setting will fail,
By the way, I have some launch file parameter meaning question,
1.What is the parameter “channel” means? If we use CH1 to transmit UDP data, It need to set “1” ?
2.Customer tried to set ”2” and lidar will show "C2" error (Incompatible configuration)
3.Parameter “channel_enable” need to set ”True” when using UDP data?
Best Regard,
York
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