Comments (1)
michael1309
commented on September 25, 2024
Hello @Bmoradi93
We were able to reproduce the behavior you described. You probably get something like this output when starting the driver.
[sick_generic_caller-1] [INFO] [1616064205.660359122] [sick_scan2]: MIN_ANG: -1.000 [rad] -57.296 [deg]
[sick_generic_caller-1] [INFO] [1616064205.660416963] [sick_scan2]: MAX_ANG: 1.000 [rad] 57.296 [deg]
[sick_generic_caller-1] [INFO] [1616064205.660602918] [sick_scan2]: Sending : sWN LMPoutputRange \x00\x01\x00\x00\x0d\x05\xff\xf7\x41\xe3\x00\x08\xbe\x1e
[sick_generic_caller-1] [INFO] [1616064205.670928968] [sick_scan2]: Receiving: <STX>sFA\x00\x04<ETX>
[sick_generic_caller-1] [INFO] [1616064205.671168257] [sick_scan2]: Error Sopas answer mismatch Error unexpected Sopas Answer for request <STX><STX><STX><STX>!sWN LMPoutputRange ApAnswer= >>>sFA\x00\x04<<<
[sick_generic_caller-1]
The answer <STX>sFA\x00\x04<ETX> which the Lidar returns means "value range of the command exceeded".
This is because the start and stop angles must be specified in the Lidar coordinate system. This is rotated against the ROS coordinate system depending on the lidar type. As shown in this figure.
You should take this into account when setting the angles.
For example if you have an TIM 571 and want -90 to 90 ° in ros coordinate system yo need to enter
min_ang = 0.0
max_ang = 3.141
I hope this information helps you to solve the problem.
best regards
from sick_scan2.
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from sick_scan2.