Possible to run ROS2 driver in passive UDP-only mode?

[mferenduros-ocado]

This code seems to suggest that the laser driver supports running in UDP-only mode, but I don't see how to actually trigger that code path - it seems like rosGetParam(nhPriv, "hostname", hostname) would always succeed because the hostname param has been declared with a default value.

Am I missing something? Is there a way to bring up the driver such that useTCP remains false and it does not attempt to make SOPAS connections?

FWIW we're talking to a picoscan120

[gschwsiSICKAG]

Hi @mferenduros-ocado, could you please provide a bit more context on your use case? Why are you aiming to use a "UDP-only" mode?

Just for background: the picoScan120 uses TCP for parameterization and UDP for streaming measurement data. This setup is fixed and is the only supported combination when using the picoScan120 together with the sick_scan_xd driver.

[mferenduros-ocado]

Hi,
We intend for two different systems on the LAN to consume the same lidar output via multicast.
In order to remove the possibility of the two systems interfering with each other, we would like to lock the lidar configuration at commissioning time and have it autostart on power on, with no way for either system to stop or reconfigure it.

Is this a supported use-case? What's the best way to achieve it?

Thanks!

[gschwsiSICKAG]

Hi @mferenduros-ocado ,

We apologize for the delayed response.

Currently, a "UDP-only" feature is not supported for the picoScan120. However, we agree that this is a valid use case and see the potential value of such a feature.

We would like to align with you directly on the details and will reach out to you accordingly.

Best regards,
SICK Support