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rostest
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RMS configuration update,
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‎.gitignore‎

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@@ -111,3 +111,11 @@ test/emulator/scandata/fieldset_trial_0001.pcapng_full.json
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test/emulator/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json
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test/emulator/scandata/20211201_MRS_1xxx_IMU_with_movement.pcapng.json
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test/emulator/scandata/*.pcapng
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test/emulator/scandata/20220316-rms1000-ascii.pcapng.json
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test/emulator/scandata/20220316-rms1000-binary.pcapng.json
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test/emulator/scandata/20220317-rms3xx-ascii.pcapng.json
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test/emulator/scandata/20220317-rms3xx-binary.pcapng.json

‎CHANGELOG.md‎

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@@ -6,6 +6,9 @@ features that will be removed in future versions **Removed** for deprecated feat
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## Unreleased ##
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### v2.6.0 -
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- **Changed** V2.6.0: RMS configuration update, issue #7
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## Released ##
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### v2.5.2 -

‎README.md‎

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@@ -538,6 +538,15 @@ ros2 run sick_scan sick_generic_caller sick_tim_5xx.launch hostname:=192.168.0.7
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- **Field monitoring**: The **LMS1xx**, **LMS5xx**, **TiM7xx** and **TiM7xxS** families have [extended settings for field monitoring](./doc/field_monitoring_extensions.md).
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- **Radar devices**: For radar devices (RMS-1xxx, RMS-3xx), radar raw targets or radar objects or both can be tracked and transmitted. You can activate parameter transmit_raw_targets, transmit_objects or both in the launchfile:
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```
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<param name="transmit_raw_targets" type="bool" value="false"/>
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<param name="transmit_objects" type="bool" value="true"/>
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```
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By default, radar objects are tracked.
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### ROS services
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On ROS-1 and ROS-2, services can be used to send COLA commands to the sensor. This can be very helpful for diagnosis, e.g. by querying the device status or its id.
@@ -576,7 +585,7 @@ Note:
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* The COLA commands are sensor specific. See the user manual and telegram listing for further details.
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* ROS services require installation of ROS-1 or ROS-2, i.e. services for Cola commands are currently not supported on native Linux or native Windows.
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* ROS services are currently not available for the LDMRS.
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* Some SOPAS commands like `sMN SetAccessMode 3 F4724744` stops the current measurement. In this case, the driver restarts after a timeout (5 seconds by default). To process those SOPAS commands without restart, you can
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* Some SOPAS commands like `sMN SetAccessMode 3 F4724744` stop the current measurement. In this case, the driver restarts after a timeout (5 seconds by default). To process those SOPAS commands without restart, you can
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* send `sMN LMCstartmeas` and `sMN Run` to switch again into measurement mode within the timeout, or
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* increase the driver timeout `read_timeout_millisec_default` in the launch-file.
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‎driver/src/sick_generic_caller.cpp‎

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@@ -80,8 +80,8 @@
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#define MAX_NAME_LEN (1024)
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#define SICK_GENERIC_MAJOR_VER "2"
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#define SICK_GENERIC_MINOR_VER "5"
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#define SICK_GENERIC_PATCH_LEVEL "2"
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#define SICK_GENERIC_MINOR_VER "6"
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#define SICK_GENERIC_PATCH_LEVEL "0"
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#include <algorithm> // for std::min
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‎driver/src/sick_generic_parser.cpp‎

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@@ -281,6 +281,20 @@ namespace sick_scan
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return (deviceIsRadar);
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}
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/*!
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\brief set/get flag to mark the radar device supports selection of tracking modes.
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By default, true for all radar devices except RMS-1xxx, otherwise false.
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*/
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bool ScannerBasicParam::getTrackingModeSupported(void)
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{
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return (deviceIsRadar && trackingModeSupported);
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}
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void ScannerBasicParam::setTrackingModeSupported(bool _trackingModeSupported)
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{
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trackingModeSupported = _trackingModeSupported;
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}
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/*!
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\brief flag to mark mirroring of rotation direction
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\param _scanMirrored: false for normal mounting true for up side down or NAV 310
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(int) basicParams.size(); i++) // set specific parameter for each scanner type - scanner type is identified by name
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{
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setScannerName(allowedScannerNames[i]); // set scanner type for this parameter object
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if (basicParams[i].getScannerName().compare(SICK_SCANNER_MRS_1XXX_NAME) ==
@@ -493,6 +508,7 @@ namespace sick_scan
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basicParams[i].setExpectedFrequency(50.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(true);// Activate Imu for MRS1000
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basicParams[i].setExpectedFrequency(50.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(600.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(true); // Safety scanner
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(25.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(50.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(12.5);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(0.00);
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basicParams[i].setUseBinaryProtocol(false); // use ASCII-Protocol
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basicParams[i].setDeviceIsRadar(true); // Device is a radar
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basicParams[i].setTrackingModeSupported(true); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(0.00);
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basicParams[i].setUseBinaryProtocol(false); // use ASCII-Protocol
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basicParams[i].setDeviceIsRadar(true); // Device is a radar
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basicParams[i].setTrackingModeSupported(false); // RMS 1xxx does not support selection of tracking modes
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(55.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(55.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(25.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default
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basicParams[i].setExpectedFrequency(15.0);
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basicParams[i].setUseBinaryProtocol(true);
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basicParams[i].setDeviceIsRadar(false); // Default
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basicParams[i].setTrackingModeSupported(false); // Default
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basicParams[i].setUseSafetyPasWD(false); // Default
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basicParams[i].setEncoderMode(-1); // Default
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basicParams[i].setImuEnabled(false);// Default

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