^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package sick_scan_xd ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 3.9.0 (2026-02-12) ------------------ * add: Support for multiScan165 * add: Integration of `layer_lookup_table_id` in the launch file to configure laser scan filtering * add: Listen-only mode support for multiScan and picoScan to avoid TCP/IP traffic * add: Improved setup for ROS 2 under Windows * fix: Reduced compiler warnings due to missing type casts * fix: Software PLL overflow due to 32-bit overflow * fix: Support for `scan_cfg_list_entry` * update: README.md extended for the Bloom process and multiScan handling 3.8.0 (2025-09-17) ------------------ * Release v3.8.0 * add: Extra frameid for IMU message, #471 * add: ROS2 kilted support * update: Fix code block indentation in README * update: README — add layer suffixes explanation and general improvements * update: Optimized CMakeLists.txt (ROS2 distros as list) * fix: Relaxed required field test * fix: ASCII parsing for TiM240, #478 3.7.0 (2025-05-28) ------------------ * Release v3.7.0 * fix: TiM7xx fieldset settings and services, #394, #408 * update: README.md and cmake requirements * change: Publish lferec messages latched, #420 * fix: TCP connection timeout, #424 * add: Support for LRS-4xxx IMU and contamination data, #418 * update: Improved TiM-7xx field evaluation status after start, #420 * update: Dockertests for ROS-1, ROS-2 and API * fix: Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428 * fix: Disable UDP-Parsing during reinitialisation * fix: ParameterAlreadyDeclaredException on reinitialisation * add: LaserScan messages encode reflector detection through high intensity values * update: user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4. 3.6.0 (2024-10-23) ------------------ * Release v3.6.0 * add: Launchfiles and configuration for picoScan120 * add: Optional AngleRangeFilter and IntervalFilter for picoScan * fix: Obsolete topic "/sick_multiscan/scan" removed * add: IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons * fix: Customization of hash values for authorization #366 * fix: Replaced builtin_addressof expressions #370 * add: Different UDP timeouts for state initial and running, improved UDP timeout handling * fix: Picoscan range_min value in laserScan message #382 * add: Support for RMS2xxx LIDoutputstate telegrams * fix: sick_generic_caller debug assertion #385 * add: Check of udp receiver ip at startup * add: cmake-option to overwrite optimization level * change: Documentation restructured * add: Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet) * add: PicoScan parameter add_transform_xyz_rpy #399 * fix: LMS4000 encoder settings #403 * fix: CMake-flag for target sick_scan_xd_api_dockertest #404 * change: Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test) 3.5.0 (2024-07-19) ------------------ * Release v3.5.0 * add: Optional switch between "system timestamps" (default) and "tick timestamps" * add: Extract sick_scan_xd version from package.xml * add: Add git info to sick_scan_xd version * fix: #316 (blocking API-close in case of wrong ip-address) * add: #321, #310 (optional cmake-flag to set a calling convention for API calls) * add: Hector SLAM configuration and example for picoScan * add: Correction angle shift settings for LRS-36x0 and OEM-15xx * add: Update FAQ (Network settings etc.) * add: Integration PR #347 (NAV350 landmarks) * add: Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan) * add: customisations for gcc 13 (Ubuntu 24) * add: Update for bloom releases ROS-2 iron and jazzy * add: Configuration multiScan interval filter via launchfile (#352) * add: SPDX licence text (PR #354) * fix: Fix #355 (API launchfile parsing error) * add: Example configurations for parallel operation multi and picoScan 3.4.0 (2024-04-18) ------------------ * Release v3.4.0 * add: azimut angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer * add: dockertests for MRS-1xxx, multiScan and picoScan with ROS-2 * add: API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. "sRN SCdevicestate" or "sRN ContaminationResult") * add: generation of TF messages * add: Option to deactivate initialization sequence for TiM-7xxS devices * add: Documented option "-b master" to clone the release version * fix: #316 API re-init nach close 3.3.0 (2024-03-04) ------------------ * Release v3.3.0 * add: Option for MRS1xxx azimuth correction table * add: Support for picoScan100 (single echo w/o addons) * add: API logging functions and verbosity (#270) * add: API documentation (multiple lidars not supported, #281) * changed: API extended (added topic in PointCloud messages, #271) 3.2.0 (2024-02-12) ------------------ * Release v3.2.0 * add: IMU support for multiScan and picoScan * add: support bloom releases for ROS-2 humble * add: docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx * add: PR #255, support picoScan performance profiles * change: configuration time flag LMDscandatacfg switched off for the TiM240 * fix: #218 (API reinit) * fix: #220 (Fullframe Laserscan messages multi- and picoScan) * fix: #221 (No scandata while activated scan range filter) * fix: #222 (rviz visualization of polar pointclouds) * fix: #247 (Launchfile option for laserscan topic) * fix: #256 (Clean API-exit picoScan and multiScan) * fix: #260 (Provide API-functions to query lidar status, error codes and error messages) * Contributors: Manuel Aiple 3.1.0 (2023-11-21) ------------------ * Release v3.1.0 * add: IMU support for multiScan * add: LaserScan output for picoScan * fix: API reinit * fix: multiScan data output with range filter activated * fix: adapt multiScan startup and shutdown sequence * fix: adaptations for MRS-1000 v2 firmware * Contributors: Manuel Aiple 3.0.0 (2023-10-11) ------------------ * Release v3.0.0 * add: New topics for additional data and properties * add: Official ARM64 support * add: ROS module name consistency * add: Service for requesting contamination detection information * add: Improvements from customer tickets and documentation enhancements * Contributors: Manuel Aiple 2.10.2 (2023-09-01) ------------------- * Release v2.10.2 - correct picoScan details in documentation and launch files * Release v2.10.1 * make Compact format the default for picoScan and multiScan * Release v2.10.0 * add picoScan support * add Compact format support * add LMS4000 encoder setting support * fix multiScan angle range filter parameter unit * fix MRS1104 diagnostic message * fix TiM781S login * chore: add note on supported interfaces * Merge branch 'master' into develop * Merge branch 'master' into develop * Merge branch 'master' into develop * Release v2.9.0 - RMSxxxx support and NAV350 support * Merge feature/RMSxxxx into develop * chore: revert picoScan references * NAV350 support integrated * chore: change mrs100 occurences into multiScan * Correct cmake option handling and adapt documentation * Merge branch 'master' into develop # Conflicts: # driver/src/sick_scan_common.cpp * Feature/lrs3601 angle settings * Documentation updated (regarding comments from Silas) * fix: address points raised by catkin_lint * Update README.md * Update REQUIREMENTS.md * Update README.md * chore: Update driver state diagram * Contributors: Manuel Aiple, Michael Lehning, Silas Gschwender 2.9.1 (2023-05-15) ------------------ * Release v2.9.1 - Angle correction * Angle correction (min/max angle settings), fix TIM551 points have bad coordinates. `#166 `_ * TiM240 initialization (start measurement) * CHANGELOG.md updated * Merge branch 'feature/interlace_doc' into feature/angle_correction * Update angle correction `#166 `_ * cone_section moved and interlacing mode explanation extended * Remarks about interlacing and curved lines on a flat plane * Contributors: Manuel Aiple, Michael Lehning, rostest 2.9.0 (2023-05-05) ------------------ * Release v2.9.0 - RMSxxxx support and NAV350 support * Contributors: Manuel Aiple 2.8.15 (2023-02-10) ------------------- * V.2.8.15 release: * **Update** Win64 build instructions * **Update** API documentation, driver states diagrams and typos * **Added** LRS-36xx configuration for upside-down mounting * **Removed** Obsolete service commands and RMS3xx support * **Fix** LRS-36xx angle configuration * **Fix** catkin_lint warnings * **Fix** ROS-2 Humble build * Update REQUIREMENTS.md * Contributors: Michael Lehning, Silas Gschwender 2.8.14 (2022-11-22 10:53) ------------------------- * Merge branch 'feature/multiscan136_laserscan_msg' * V2.8.14 Laserscan messages for Multiscan Update: Laserscan messages for Multiscan lidar, `#96 `_ * Contributors: rostest 2.8.13 (2022-11-22 10:47) ------------------------- * Merge branch 'feature/transform_update' * V2.8.13 - Dynamical pointcloud transform and QoS configuration Update: Dynamical configuration of an additional pointcloud transform by rosparam, `#104 `_ Update: Configuration of ROS quality of service by launchfile, `#101 `_ * Contributors: rostest 2.8.11 (2022-11-10) ------------------- * Merge pull request `#125 `_ from SICKAG/feature/lms1xxx-support LMS 1xxx support * LMS 1xxx support LMS 1xxx support with scan configuration (scan frequency and angular resolution for firmware 2.x) * CHANGELOG.md corrected * Merge branch 'master' of https://github.com/SICKAG/sick_scan_xd * radar ascii support and elevation layer fix * Contributors: Michael Lehning, rostest 2.8.9 (2022-10-13) ------------------ * Merge pull request `#118 `_ from SICKAG/feature/mrs_1xxx-layer-conversion mrs 1xxx slam support optimized * mrs1xxx slam support optimized * Contributors: Michael Lehning 2.8.8 (2022-10-06 13:47) ------------------------ * optimized ASCII rms1xxx support * galatic support added * Contributors: Michael Lehning 2.8.7 (2022-10-06 12:10) ------------------------ * v2.8.7 moved to release section * Merge pull request `#116 `_ from SICKAG/115-minmax-range-settings range filter settings optimized * range filter settings optimized * Update CMakeLists.txt * Merge pull request `#113 `_ from tomaszkapron/galactic fix: galactic build support * fix: galactic build support * Contributors: Michael Lehning, tomaszkapron 2.8.6 (2022-09-29) ------------------ * Release 2.8.6, Multiscan update for 16-bit RSSI and modified SOPAS startup sequence * fix #pr111 merge * Merge pull request `#111 `_ from fmessmer/fix/cmake_if_conditions Fix/cmake if conditions * consistently check for EQUAL ON * fix message * Additional description for cmake options * Merge pull request `#110 `_ from fmessmer/fix/cmake_messages fix message for options in CMakeLists * fix message for options in CMakeLists * Folder test/emulator/scandata added Empty folder test/emulator/scandata required for builds with emulator enabled * Contributors: fmessmer, rostest 2.8.5 (2022-09-20) ------------------ * Merge pull request `#109 `_ from SICKAG/feature/lrs4xxx-support-glare-detection V2.8.5 - LRS4xxx support glare detection filter * V2.8.5 - LRS4xxx support glare detection filter * Contributors: rostest 2.8.4 (2022-09-19) ------------------ * Update CHANGELOG.md * Merge pull request `#107 `_ from SICKAG/106-support-of-generic-api generic api support incl. test data and documentation * generic api support incl. test data and documentation * Additional API explanations * Contributors: Michael Lehning, rostest 2.8.3 (2022-09-05) ------------------ * V2.8.3 - Generic API See CHANGELOG.md * Contributors: rostest 2.7.5 (2022-08-01) ------------------ * Merge pull request `#93 `_ from SICKAG/feature/mrs6124-fix Feature/mrs6124 fix * Removed visibility linker flag * angle offset MRS6124 * Merge pull request `#92 `_ from SICKAG/feature/library-linking Library linker flag `#91 `_ * Library linker flag `#91 `_ * Bugfix MRS6124 pointcloud * Contributors: rostest 2.7.4 (2022-06-30) ------------------ * Merge pull request `#84 `_ from SICKAG/feature/ros2-compilation-error-83 ROS2 compilation error `#83 `_ * ROS2 compilation error `#83 `_ * Contributors: rostest 2.7.3 (2022-06-29) ------------------ * Merge pull request `#82 `_ from SICKAG/feature/scale_mean_median_filter Support for LFPmeanfilter and LFPmedianfilter (MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx) and LMDscandatascalefactor (LRS4xxx) * Support for LFPmeanfilter, LFPmedianfilter, LMDscandatascalefactor Support for LFPmeanfilter and LFPmedianfilter (MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx) and LMDscandatascalefactor (LRS4xxx) * Contributors: rostest 2.7.0 (2022-06-27) ------------------ * Merge pull request `#81 `_ from SICKAG/feature/multiscan136-support V2.7.0 Integration of sick_scansegment_xd (multiscan136 support) `#80 `_ * V2.7.0, Integration of sick_scan_segment_xd (multiscan136 support) `#80 `_ * Merge pull request `#72 `_ from fmessmer/feature/launch_args_lrs_4xxx add launch arguments for sick_lrs_4xxx.launch * add launch arguments for sick_lrs_4xxx.launch * Contributors: mojin@backpack-1, rostest 2.6.8 (2022-06-20) ------------------ * V2.6.8 Merge pull request `#76 `_ * Merge pull request `#76 `_ from youliangtan/master fix ros2 ros_info compilation * fix ros2 ros_info compilation * Merge pull request `#75 `_ from SICKAG/70-lms511-problems-with-setting-the-start-and-end-angle-to-limit-the-data-output-during-scan-output Fixing problems of setting min-/max-angle for LMS511 * Fixing problems of setting min-/max-angle for LMS511 * Contributors: Michael Lehning, rostest, youliang 2.6.7 (2022-05-26) ------------------ * Merge pull request `#68 `_ from SICKAG/feature/lms511-min_max_angles * Merge pull request `#68 `_ from SICKAG/feature/lms511-min_max_angles LMS511 configuration `#67 `_ * LMS511 configuration `#67 `_ * Merge pull request `#66 `_ from SICKAG/feature/readme-update Update README.md * Update README.md * Merge pull request `#64 `_ from SICKAG/feature/nav310_lrs4000_support * Contributors: rostest 2.6.6 (2022-05-23) ------------------ * Release v2.6.6: NAV310 + LRS4xxx update, issues `#58 `_, `#59 `_, `#60 `_, `#61 `_ * Merge pull request `#64 `_ from SICKAG/feature/nav310_lrs4000_support NAV310 + LRS4xxx update, issues `#58 `_, `#59 `_, `#60 `_, `#61 `_ `#58 `_ (NAV310): min/max angle removed from config `#59 `_ (NAV310+LRS4xxx): laserscan and pointcloud identical `#60 `_ (LRS4xxx): validated parameter scan_cfg_list_entry and skip `#61 `_ (LRS4xxx): default value echo filter changed to "2" (last echo) * NAV310 + LRS4xxx update, issues `#58 `_, `#59 `_, `#60 `_, `#61 `_ `#58 `_ (NAV310): min/max angle removed from config `#59 `_ (NAV310+LRS4xxx): laserscan and pointcloud identical `#60 `_ (LRS4xxx): validated parameter scan_cfg_list_entry and skip `#61 `_ (LRS4xxx): default value echo filter changed to "2" (last echo) * Merge pull request `#57 `_ from SICKAG/feature/lrs-4xxx-support-parameter-skip Parameter skip added in lrs4xxx-launchfile `#56 `_ * Parameter skip added in lrs4xxx-launchfile * Contributors: rostest 2.6.5 (2022-05-10) ------------------ * Merge pull request `#53 `_ from SICKAG/feature/lrs4xxx-configuration LRS4xxx scan configuration `#52 `_ * LRS4xxx scan configuration `#52 `_ * Contributors: rostest 2.6.4 (2022-05-09) ------------------ * Merge pull request `#51 `_ from SICKAG/feature/lms511-echofilter Feature/lms511 echofilter * LMS5xx echo filter settings corrected * Remove emulator test sequences * Contributors: rostest 2.6.3 (2022-05-04) ------------------ * Merge pull request `#48 `_ from SICKAG/feature/timestamp-laserscan-message Timestamp Laserscan message corrected `#47 `_ * Timestamp Laserscan message corrected `#47 `_ Timestamp of pointcloud and laserscan messages identical and computed from lidar ticks by software-pll * Contributors: rostest 2.6.2 (2022-04-28) ------------------ * V2.6.2 LDMRS spinning problem * Merge pull request `#45 `_ from SICKAG/feature/ldmrs_spinning_problem LDMRS spinning problem corrected `#44 `_ * LDMRS spinning problem corrected `#44 `_ * Merge pull request `#43 `_ from SICKAG/feature/status_update Update driver status `#42 `_ * Update driver status * Merge pull request `#41 `_ from SICKAG/feature/LMS1xx_setscancfg Bugfix LMS1xx mLMPsetscancfg `#39 `_ * Merge pull request `#40 `_ from Pattern-Labs/feat/MinorImprovements feat/MinorImprovements * Fixing logging for increments. Allowing nodename to be externally customized to allow multiple concurrent nodes. * Bugfix LMS1xx mLMPsetscancfg `#39 `_ Bugfix for LMS1xx error at startup (settting mLMPsetscancfg, `#39 `_) * Merge pull request `#38 `_ from SICKAG/feature/rms_support Update RMS support `#37 `_ (configuration, documentation) * Update RMS support `#37 `_ (configuration, documentation) * Contributors: John Pratt, rostest 2.6.1 (2022-04-04) ------------------ * V2.6.1: Support for RMS-1xxx binary protocol * Merge pull request `#33 `_ from scheunemann/master Inconsistent use of "MRS" and "TIM" in example urdf * fix example urdf * Contributors: Marcus Scheunemann, rostest 2.6.0 (2022-03-30) ------------------ * RMS configuration update, * Contributors: rostest 2.5.2 (2022-03-22) ------------------ * Merge pull request `#30 `_ from SICKAG/feature/lrs_4xxx_angles Feature/lrs 4xxx angles * Fix LSR-4xxx laserscan angles `#28 `_ * Fix duplicated laserscan messages `#28 `_ * Fix `#28 `_ (duplicated laserscan messages) * Fix LSR-4xxx laserscan angles * Contributors: rostest 2.5.1 (2022-03-16) ------------------ * Merge pull request `#29 `_ from SICKAG/feature/lidar_concurrent_event_loops Error after SOPAS command SetAccessMode `#27 `_ * Error after SOPAS command SetAccessMode `#27 `_ * Contributors: rostest 2.5.0 (2022-03-09) ------------------ * Merge pull request `#25 `_ from SICKAG/feature/lidar_stop_exit * Fix issue `#24 `_ (stop scanner at exit), new ros service SickScanExit to stop scanner and exit * Contributors: rostest 2.4.6 (2022-03-03) ------------------ * Corrected angle shift parameter for LMS-4xxx Corrected angle shift parameter for LMS-4xxx, Typo corrected * Contributors: rostest 2.4.5 (2022-02-28) ------------------ * Issues `#158 `_ (driver terminates), `#22 `_ (build error diagnostic_updater), `#21 `_ (python launch files) * Update field_monitoring_extensions.md Typo fixing for lidar name * IMU enabled in MRS-1xxx launchfile * Merge pull request `#19 `_ from JWhitleyWork/fix-ros2-args-parsing Fix command-line parsing in ROS2. Thanks to @JWhitleyWork ! * Fix command-line parsing in ROS2. * README and FAQ updated (link to changelog, launch-file customization) * Contributors: Joshua Whitley, Michael Lehning, rostest 2.4.4 (2022-01-25) ------------------ * V2.4.4: configuration of start/stop angles for LRS-36x1 * CHANGELOG.md updated * Contributors: Michael Lehning, rostest 2.4.3 (2022-01-18) ------------------ * V2.4.3: LMS111 support, switch Cola-A/Cola-B LMS111 support with 25+50 Hz `#13 `_, optional switch Cola-A / Cola-B after startup `#11 `_ * Added faq howto run muliple sensors concurrently * Added faq hints about compiler errors * Contributors: rostest 2.4.2 (2021-12-03) ------------------ * Release 2.4.2: Hardening Release 2.4.2: Hardening, Message and pointcloud monitoring, reconnect and -initialization after timeouts, Support for SOPAS-commands SCreboot and SCsoftreset * Merge pull request `#10 `_ from hatchbed/fix-build-type Fix ROS 1 build * Fix ROS 1 build catkin_make was refusing to build this package because it couldn't identify the build type, so this explicitly sets the build_type to catkin when in a ROS 1 environment. Also, there was a header that was defining some values that should only be set in ROS 2, and the #if definition around it was accidentally checking if the ROS version was >0 rather than >1, so this also fixes that. * ROS1/ROS2-compatibility * Merge pull request `#2 `_ from hatchbed/consolidate-package-manifests Consolidate ROS 1 & ROS 2 package manifests * Merge pull request `#3 `_ from hatchbed/1/fix-dynamic-reconfig-permissions Fix dynamic reconfig permissions * adding lms_1xx_ros1.rviz file * fixed mrs 6000 ang offset * Merge remote-tracking branch 'origin/devel' * radar info. updated * added multi echo support for LMS 5xx * Merge remote-tracking branch 'origin/master' into devel * finshed LRS 36x0 and LRS 36x1 support * Update README.md fixes `#7 `_ * Fix dynamic reconfig permissions The .cfg files used to provide dynamic reconfigure support in ROS 1 are executable Python files, and so they need to have the executable bit set in order to work properly. Fixes `#1 `_ * Update README.md * Consolidate ROS 1 & ROS 2 package manifests Previously, this package had separate package manifest files for ROS 1 and ROS 2, and it was necessary to run a script after cloning the repository to name the correct one package.xml. This consolidates both of them into a single package.xml file that works with both ROS 1 and ROS 2, so the package can now be cloned and built inside a standard colcon workspace without needing to run any additional scripts. It also makes a few tweaks to other files to ensure compatibility. This has been tested on ROS Noetic and ROS Foxy in Ubuntu 20.04. * initial support of LD_LRS3600 LD-LRS3601 LD-OEM1501 * starting with LRS_36xx and oem_15xx * Contributors: Michael Lehning, P. J. Reed, rostest 2.3.0 (2021-10-25) ------------------ * Moved roswrap-headers of ros-generated messages Moved roswrap-headers of ros-generated messages to avoid include path dependencies * RMS1000 info added/modified * Contributors: Michael Lehning, rostest 2.2.0 (2021-10-18) ------------------ * Merge sick_scan, sick_scan2, sick_scan_base Merged repositories sick_scan, sick_scan2, sick_scan_base * Initial commit * Contributors: rostest