Merging two sick scangrid2 readed from PLC DELTA

asked 2023-01-24 09:36:41 -0500

Blachowskyy gravatar image

Hi! :) I have two Sick ScanGrid2 ( CAN version ) and I'm reading the data trough PLC Delta. I've published two topics /scangrid_1 and /scangrid_2 witch data (Int64MultiArray) but the ira_laser_tools don't recognise this as laserscan topic. How to make it work?

scangrid2_pub1 = rospy.Publisher('scangrid_1', Int64MultiArray, queue_size=10)
scangrid2_pub2 = rospy.Publisher('scangrid_2', Int64MultiArray, queue_size=10)
rospy.init_node('publisher', anonymous=True)

delta = ModbusClient(host='',port=502,auto_open=True, auto_close=True)
rate = rospy.Rate(30) # 1hz
rospy.loginfo("Publisher high started")
scangrid1 = Int64MultiArray()
scangrid2 = Int64MultiArray()
while not rospy.is_shutdown(): = delta.read_holding_registers(24032, 32) = delta.read_holding_registers(24064, 32)

    rospy.loginfo("Scangrid data active")

    clear = lambda: os.system('clear')


<node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger" output="screen">
<param name="destination_frame" value="/base_link"/>
<param name="cloud_destination_topic" value="/cloud_merged_scangrid"/>
<param name="scan_destination_topic" value="/scan_merged_scangrid"/>
<param name="laserscan_topics" value ="/scangrid_1 /scangrid_2" /> <!-- LIST OF THE LASER SCAN TOPICS TO SUBSCRIBE -->
<param name="angle_min" value="0"/>
<param name="angle_max" value="270"/>
<param name="angle_increment" value="0.0058"/>
<param name="scan_time" value="0.0333333"/>
<param name="range_min" value="0"/>
<param name="range_max" value="10"/>
<param name="intensities" value="0"/>


I'm using standard ira launcher with Sick microscan3 and it's work fine but theres a special library from sick company... It wont work for reading scanners from PLC.

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