How to use PicoScan ROS1 to run 2 PicoScan for negivation?

[sjeffreydong]

Dear Teams,
Would you please share with us the workflow how to use 2 PicoScan for negivation ?
Customer used our 2 PicoScan can't work well, they can't start together.

[rostest]

Thanks for your feedback. To use 2 picoScan lidars under ROS-1, start sick_scan_xd twice with different ip addresses and topics in two ros nodes. See the FAQ for an example configuration.

sick_scan_xd publishes PointCloud2 and LaserScan messages, SLAM and navigation using two lidars is a bit beyond the scope of the driver. See slam.md and #206 for more information or use run_linux_ros1_simu_slam_mrs1xxx.bash resp. test_200_slam_ros1_hector.launch as an example.

[sjeffreydong]

Dear Teams,

Our customer is running 2 picoScan150 on one controller, however will happen issues with one can't start and no data.

[rostest]

Thanks for your feedback. The photo does not support a clear diagnosis of the problem. Please send the launchfiles used for both picoScan150 devices, the commandline calls and parameters to launch sick_scan_xd and complete logfiles for further diagnosis.

[sjeffreydong]

Dear Teams,

Please have a look. Could you check what is the issues ? why 2 picScan can’t run well on the one controller when start 2 pcioScan together ?
picoScan150.zip
mail

[sjeffreydong]

Dear Teams, Could you check what is the issues ? why 2 picScan can’t run well on the one controller when start 2 pcioScan together ? From: rostest ***@***.***> Sent: Wednesday, May 29, 2024 2:38 PM To: SICKAG/sick_scan_xd ***@***.***> Cc: Jeffrey Dong ***@***.***>; Author ***@***.***> Subject: Re: [SICKAG/sick_scan_xd] How to use PicoScan ROS1 to run 2 PicoScan for negivation? (Issue #326) EXTERNAL EMAIL: This message was sent from outside of SICK. Please do not click any links or open any attachments unless you trust the sender and know the content is safe. Please report suspicious emails via SMAX<https://userservice.sick.com/saw/ess/offeringPage/160523?query=phishing>. Thanks for your feedback. The photo does not support a clear diagnosis of the problem. Please send the launchfiles used for both picoScan150 devices, the commandline calls and parameters to launch sick_scan_xd and complete logfiles for further diagnosis. — Reply to this email directly, view it on GitHub<https://urldefense.com/v3/__https:/github.com/SICKAG/sick_scan_xd/issues/326*issuecomment-2136646369__;Iw!!BXYwEpu2!rLI6QpYgxb4Biuey42RiLWkpJSioKZnLTyWTbEvfEXuWTQ7F1BXLtORDQ9u9exrGKLvqWNZucHbQPLAgJoVLogMeyRk$>, or unsubscribe<https://urldefense.com/v3/__https:/github.com/notifications/unsubscribe-auth/AZBMU3LJ2RW5D3HU7CM4KYTZEVZUNAVCNFSM6AAAAABHOODEUCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMZWGY2DMMZWHE__;!!BXYwEpu2!rLI6QpYgxb4Biuey42RiLWkpJSioKZnLTyWTbEvfEXuWTQ7F1BXLtORDQ9u9exrGKLvqWNZucHbQPLAgJoVLEIvRMWk$>. You are receiving this because you authored the thread.Message ID: ***@***.******@***.***>> Best regards Jeffrey Dong Product Manager | Sales & Service China & Hong Kong

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[rostest]

Thanks for further information and launchfiles. To run two picoScan devices simultanously, sick_scan_xd must be started in two different nodes. Each node must be configured with different lidar ip addresses and udp ports, different node names, different ros topics and frame ids for each point cloud. Therefore the following launchfile parameter should be overwritten by individual settings for each lidar:

• "hostname": e.g. "192.168.0.190" and "192.168.0.98"
• "nodename": e.g. sick_picoscan0" and "sick_picoscan1"
• "publish_frame_id": e.g. "world0" and "world1"
• "publish_laserscan_segment_topic": e.g. "scan0_segment" and "scan1_segment"
• "publish_laserscan_fullframe_topic": e.g. "scan0_fullframe" and "scan1_fullframe"
• "imu_topic": e.g. "imu0" and "imu1"
• "udp_port": e.g. "56661" and "56662"
• "imu_udp_port": e.g. "7503" and "7504"
• individual topics and frame id for each customized point cloud, e.g.
  • replace all "topic=/cloud_" by "topic=/cloud0_" resp. "topic=/cloud1_"
  • replace all "frameid=world" by "frameid=world0" resp. "frameid=world1"

Two modified launchfiles are attached. We recommend to first verify the launchfile configuration separately for each picoScan, then run both devices simultanously.
picoscan_launchfiles.zip

Parameter udp_receiver_ip must be the ip address of your PC running sick_scan_xd. We recommend to use the same subnet as the lidar, i.e. to change the customers current ip address 224.0.0.1 to an ip address within the subnet 192.168.x.y.