sick_multiscan.launch

<?xml version="1.0"?>
<launch>
    <!--
       layer_lookup_table_id selects the elevation-to-LayerID lookup table used by sick_scan_xd.

       Background:
       The multiScan165 uses a different layer/elevation mapping than the multiScan136 and multiScan166.

       Values:
       0  = multiScan136 / multiScan166 (default)
       1  = multiScan165
       -1  = automatic retrieval of the elevation table (experimental)
    -->
    <!-- Launch multiScan -->
    <!-- env name="ROSCONSOLE_CONFIG_FILE" value="/tmp/rosconsole_loglevel_warn.conf" / -->
    <arg name="hostname" default="192.168.0.1"/>                                    <!-- IP address of sensor -->
    <arg name="udp_receiver_ip" default=""/>                                        <!-- UDP destination IP address (ip address of udp receiver) -->
    <arg name="nodename" default="multiScan"/>
    <arg name="publish_frame_id" default="world" />                                 <!-- frame id of ros Laserscan messages, default: "world_<layer-id>" -->
    <arg name="publish_laserscan_segment_topic" default="scan_segment" />           <!-- topic of ros Laserscan segment messages -->
    <arg name="publish_laserscan_fullframe_topic" default="scan_fullframe" />       <!-- topic of ros Laserscan fullframe messages -->
    <arg name="publish_imu_frame_id" default="sick_imu" />                          <!-- frame id of ros IMU messages, default: "sick_imu" -->
    <arg name="imu_topic" default="imu" />                                          <!-- topic of ros IMU messages -->
    <arg name="udp_port" default="2115" />                                          <!-- default udp port for multiScan devices is 2115 -->
    <arg name="imu_udp_port" default="7503"/>                                       <!-- udp port for multiScan imu data (if imu_enable is true) -->
    <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
    <arg name="add_transform_check_dynamic_updates" default="false"/>               <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
    <arg name="laserscan_layer_filter" default="0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0" /> <!-- Configuration of laserscan messages (ROS only), default: laserscan messages for layer 6 activated (hires layer, elevation -0.07 deg) -->
    <arg name="scandataformat" default="2"/>                                        <!-- ScanDataFormat: 1 for msgpack or 2 for compact scandata, default: 2 -->
    <arg name="host_LFPangleRangeFilter" default="0 -180.0 +179.0 -90.0 +90.0 1" /> <!-- Optionally set LFPangleRangeFilter to "<enabled> <azimuth_start> <azimuth_stop> <elevation_start> <elevation_stop> <beam_increment>" with azimuth and elevation given in degree -->
    <arg name="host_set_LFPangleRangeFilter" default="False" />                     <!-- If true, LFPangleRangeFilter is set at startup (default: false) -->
    <arg name="host_LFPlayerFilter" default="0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" />  <!-- Optionally set LFPlayerFilter to "<enabled> <layer0-enabled> <layer1-enabled> <layer2-enabled> ... <layer15-enabled>" with 1 for enabled and 0 for disabled -->
    <arg name="host_set_LFPlayerFilter" default="False" />                          <!-- If true, LFPlayerFilter is set at startup (default: false) -->
    <arg name="host_LFPintervalFilter" default="0 1" />                             <!-- Optionally set LFPintervalFilter to "<enabled> <N>" with 1 for enabled and 0 for disabled and N to reduce output to every N-th scan -->
    <arg name="host_set_LFPintervalFilter" default="False" />                       <!-- If true, LFPintervalFilter is set at startup (default: false) -->
    <arg name="custom_pointclouds" default="cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe"/> <!-- Default pointclouds: segmented and fullframe pointclouds, with all layers and echos in both cartesian and polar coordinates -->
    <arg name="tf_publish_rate" default="10.0" />                                   <!-- Rate to publish TF messages in hz, use 0 to deactivate TF messages -->
    <node name="$(arg nodename)" pkg="sick_scan_xd" type="sick_generic_caller" respawn="false" output="screen" required="true">    
        <param name="scanner_type" type="string" value="sick_multiscan"/>

        <!-- network settings: -->
        <param name="hostname" type="string" value="$(arg hostname)" />                     <!-- IP address of multiScan136 to post start and stop commands, f.e. "192.168.0.1" (default) -->
        <param name="udp_receiver_ip" type="string" value="$(arg udp_receiver_ip)" />       <!-- UDP destination IP address (ip address of udp receiver), f.e. "192.168.0.140" -->

        <!-- sick_multiscan basic settings: -->
        <param name="udp_sender" type="string" value="" />                                  <!-- Use "" (default) to receive msgpacks from any udp sender, use "127.0.0.1" to restrict to localhost (loopback device), or use the ip-address of a multiScan lidar -->
        <param name="udp_port" type="int" value="$(arg udp_port)" />                        <!-- default udp port for multiScan devices is 2115 -->
        <param name="check_udp_receiver_ip" type="bool" value="True" />                     <!-- check udp_receiver_ip by sending and receiving a udp test message -->
        <param name="check_udp_receiver_port" type="int" value="2116" />                    <!-- udp port to check udp_receiver_ip -->
        <param name="segment_count" type="int" value="12" />                                <!-- number of expected segments in 360 degree, multiScan136: 12 segments, 30 degree per segment -->
        <!-- listen-only mode (skip TCP SOPAS initialization) -->
        <param name="listen_only_mode" type="bool" value="False" />                         <!-- flag to active listen only mode. If true TCP SOPAS initialization is skipped -->
        <!-- Layer lookup table selection -->
        <param name="layer_lookup_table_id" type="int" value="0" />                         <!-- Index for Layer lookup table: 0: multiScan136/166, 1: multiScan165, -1: automatic retrieval of the elevation table (experimental) -->
        
        <param name="publish_frame_id" type="string" value="$(arg publish_frame_id)" />     <!-- frame id of ros Laserscan messages, default: "world_<layer-id>" -->
        <param name="publish_imu_frame_id" type="string" value="$(arg publish_imu_frame_id)" />     <!-- frame id of ros IMU messages, default: "sick_imu" -->
        <param name="publish_laserscan_segment_topic" type="string" value="$(arg publish_laserscan_segment_topic)" />           <!-- topic of ros Laserscan segment messages -->
        <param name="publish_laserscan_fullframe_topic" type="string" value="$(arg publish_laserscan_fullframe_topic)" />       <!-- topic of ros Laserscan fullframe messages -->
        <param name="udp_input_fifolength" type="int" value="20" />                         <!-- max. udp input fifo length(-1: unlimited, default: 20 for buffering 1 second at 20 Hz), elements will be removed from front if number of elements exceeds the fifo_length -->
        <param name="msgpack_output_fifolength" type="int" value="20" />                    <!-- max. msgpack output fifo length(-1: unlimited, default: 20 for buffering 1 second at 20 Hz), elements will be removed from front if number of elements exceeds the fifo_length -->
        <param name="verbose_level" type="int" value="1" />                                 <!-- verbose_level <= 0: quiet mode, verbose_level == 1: print statistics, verbose_level == 2: print details incl. msgpack data, default: 1 -->
        <param name="measure_timing" type="bool" value="True" />                            <!-- measure_timing == true: duration and latency of msgpack conversion and export is measured, default: true -->
        <param name="export_csv" type="bool" value="False" />                               <!-- export msgpack data to csv file, default: false -->
        <param name="export_udp_msg" type="bool" value="False" />                           <!-- true : export binary udpand msgpack data to file(*.udp and* .msg), default: false -->
        <param name="logfolder" type="string" value="" />                                   <!-- output folder for logfiles, default: "" (no logging) -->
        <param name="udp_timeout_ms" type="int" value="10000" />                            <!-- Timeout for udp messages in milliseconds, default: 10*1000 -->
        <param name="udp_timeout_ms_initial" type="int" value="60000" />                    <!-- Initial timeout for udp messages after start in milliseconds, default: 60*1000 -->
        <param name="scandataformat" type="int" value="$(arg scandataformat)" />            <!-- ScanDataFormat: 1 for msgpack or 2 for compact scandata, default: 1 -->
        <param name="imu_enable" type="bool" value="True"/>                                 <!-- Enable inertial measurement unit IMU, compact format only -->
        <param name="imu_udp_port" type="int" value="$(arg imu_udp_port)"/>                 <!-- udp port for multiScan imu data (if imu_enable is true) -->
        <param name="imu_latency_microsec" type="int" value="0"/>                           <!-- imu latency in microseconds -->
        <param name="imu_topic" type="string" value="$(arg imu_topic)"/>                    <!-- topic of ros IMU messages -->
        
        <!-- Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform) -->
        <!-- Note: add_transform_xyz_rpy is specified by 6D pose x, y, z, roll, pitch, yaw in [m] resp. [rad] -->
        <!-- It transforms a 3D point in cloud coordinates to 3D point in user defined world coordinates: --> 
        <!-- add_transform_xyz_rpy := T[world,cloud] with parent "world" and child "cloud", i.e. P_world = T[world,cloud] * P_cloud -->
        <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
        <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects, LaserScan or other messages -->
        <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />

        <!-- SOPAS settings: -->
        <param name="sopas_tcp_port" type="string" value="2111" />                          <!-- TCP port for SOPAS commands, default port: 2111 -->
        <param name="start_sopas_service" type="bool" value="True" />                       <!-- True: sopas services for CoLa-commands are started (ROS only), default: true -->
        <param name="send_sopas_start_stop_cmd" type="bool" value="True" />                 <!-- True: multiScan136 start and stop command sequence ("sWN ScanDataEnable 0/1" etc.) are sent after driver start and stop, default: true -->
        <param name="sopas_cola_binary" type="bool" value="False" />                        <!-- False: SOPAS uses CoLa-A (ascii, default, recommended), CoLa-B (true, binary) currently experimental -->
        <param name="sopas_timeout_ms" type="int" value="5000" />                           <!-- Timeout for SOPAS response in milliseconds, default: 5000 -->
        <param name="user_level" type="int" value="4" />                                    <!-- Default user level for authorization (3: client, 4: service) -->
        <param name="user_level_password" type="string" value="81BE23AA" />                 <!-- Default user level password (for "client" (level 3): F4724744, for "service" (level 4): 81BE23AA) -->
        
        <!-- multiScan filter settings -->
        <!-- Note: Setting host_LFPangleRangeFilter requires firmware version 1.2.2 or higher -->
        <param name="host_read_filtersettings" type="bool" value="True" />                                    <!-- Read multiScan136 settings for FREchoFilter, LFPangleRangeFilter and LFPlayerFilter at startup, default: true -->
        <param name="host_FREchoFilter" type="int" value="2" />                                               <!-- Optionally set FREchoFilter with 0 for FIRST_ECHO (default, EchoCount=1), 1 for ALL_ECHOS (EchoCount=3), or 2 for LAST_ECHO (EchoCount=1) -->
        <param name="host_set_FREchoFilter" type="bool" value="True" />                                       <!-- If true, FREchoFilter is set at startup (default: false) -->
        <param name="host_LFPangleRangeFilter" type="string" value="$(arg host_LFPangleRangeFilter)" />       <!-- Optionally set LFPangleRangeFilter to "<enabled> <azimuth_start> <azimuth_stop> <elevation_start> <elevation_stop> <beam_increment>" with azimuth and elevation given in degree -->
        <param name="host_set_LFPangleRangeFilter" type="bool" value="$(arg host_set_LFPangleRangeFilter)" /> <!-- If true, LFPangleRangeFilter is set at startup (default: false) -->
        <param name="host_LFPlayerFilter" type="string" value="$(arg host_LFPlayerFilter)" />                 <!-- Optionally set LFPlayerFilter to "<enabled> <layer0-enabled> <layer1-enabled> <layer2-enabled> ... <layer15-enabled>" with 1 for enabled and 0 for disabled -->
        <param name="host_set_LFPlayerFilter" type="bool" value="$(arg host_set_LFPlayerFilter)" />           <!-- If true, LFPlayerFilter is set at startup (default: false) -->
        <param name="host_LFPintervalFilter" type="string" value="$(arg host_LFPintervalFilter)" />           <!-- Optionally set LFPintervalFilter to "<enabled> <N>" with 1 for enabled and 0 for disabled and N to reduce output to every N-th scan -->
        <param name="host_set_LFPintervalFilter" type="bool" value="$(arg host_set_LFPintervalFilter)" />     <!-- If true, LFPintervalFilter is set at startup (default: false) -->

        <!-- Msgpack validation -->
        <param name="msgpack_validator_enabled" type="bool" value="False" />                                  <!-- true: check msgpack data for out of bounds and missing scan data, false: no msgpack validation (default) -->
        <param name="msgpack_validator_verbose" type="int" value="1" />                                       <!-- 0: print error messages, 1: print error and informational messages, 2: print error and all messages -->
        <param name="msgpack_validator_discard_msgpacks_out_of_bounds" type="bool" value="True" />            <!-- true: msgpacks are discarded if scan data out of bounds detected, false: error message if a msgpack is not validated -->
        <param name="msgpack_validator_check_missing_scandata_interval" type="int" value="12" />              <!-- check msgpack for missing scandata after collecting N msgpacks, default: N = 12 segments. Increase this value to tolerate udp packet drops. Use 12 to check each full scan. -->
        <param name="msgpack_validator_required_echos" type="string" value="0" />                             <!-- default: echo count = 1 -->
        <param name="msgpack_validator_azimuth_start" type="double" value="-180.0" />                         <!-- default for full scan: -180 degree -->
        <param name="msgpack_validator_azimuth_end" type="double" value="+180.0" />                           <!-- default for full scan: +180 degree -->
        <param name="msgpack_validator_elevation_start" type="double" value="-90.0" />                        <!-- default for full scan: -90 degree -->
        <param name="msgpack_validator_elevation_end" type="double" value="+90.0" />                          <!-- default for full scan: +-90 degree -->
        <param name="msgpack_validator_valid_segments" type="string" value="0 1 2 3 4 5 6 7 8 9 10 11" />     <!-- indices of valid segmentes, default for full scan: 12 segments -->
        <param name="msgpack_validator_layer_filter" type="string" value="1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" /> <!-- default for full scan: 16 layer active, i.e. "1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" -->

        <!-- Configuration of ROS quality of service: -->
        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
        <!-- Default value is -1, i.e. queue_size=32 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=32 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->

        <!-- Configuration of laserscan messages (ROS only): -->
        <!-- Parameter "laserscan_layer_filter" sets a mask to create laserscan messages for configured layer (0: no laserscan message, 1: create laserscan messages for this layer) -->
        <!-- Use "0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" to activate resp. "1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" to activate laserscan messages for all 16 layers of the Multiscan136 -->
        <!-- Default is "0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0", i.e. laserscan messages for layer 5, (elevation -0.07 degree, max number of scan points) -->
        <param name="laserscan_layer_filter" type="string" value="$(arg laserscan_layer_filter)" />

        <!-- Configuration of customized pointclouds:

        Parameter "custom_pointclouds" lists all customized pointclouds to be published. Each pointcloud is given by its name and configured by the following parameters:
        "<name_of_custom_pointcloud>" type="string" value="list of key-value-pairs"
        
        The list of key-value-pairs defines the pointcloud properties. List of supported key-value-pairs for customized pointclouds:
        
        Parameter "coordinateNotation" is an enum to configure pointcloud coordinates:
            coordinateNotation=0: cartesian (default, pointcloud has fields x,y,z,i), identical to customized with fields=x,y,z,i
            coordinateNotation=1: polar (pointcloud has fields azimuth,elevation,r,i), identical to customized with fields=azimuth,elevation,range,i
            coordinateNotation=2: both cartesian and polar (pointcloud has fields x,y,z,azimuth,elevation,r,i), identical to customized with fields=x,y,z,azimuth,elevation,range,i
            coordinateNotation=3: customized pointcloud fields, i.e. the pointcloud has fields configured by parameter "fields"

        Parameter "updateMethod" is an enum to configure fullframe pointclouds versus segmented pointcloud:
            updateMethod=0: fullframe pointcloud (default)
            updateMethod=1: segmented pointcloud

        Parameter "fields" defines the fields of the pointcloud for coordinateNotation == 3 (customized pointcloud fields), e.g. 
            fields=x,y,z,i: cartesian pointcloud
            fields=range,azimuth,elevation: polar pointcloud
            or any other combination of x,y,z,i,range,azimuth,elevation,t,ts,lidar_sec,lidar_nsec,ring,layer,echo,reflector
            These fields have the following meaning:
                field "x":         cartesian x coordinate in meter in ROS coordinates (4 byte, float32)
                field "y":         cartesian y coordinate in meter in ROS coordinates (4 byte, float32)
                field "z":         cartesian z coordinate in meter in ROS coordinates (4 byte, float32)
                field "i":         intensity (4 byte, float32)
                field "range":     polar coordinate range in meter (4 byte, float32)
                field "azimuth":   polar coordinate azimuth in radians  (4 byte, float32)
                field "elevation": polar coordinate elevation in radians  (4 byte, float32)
                field "t":         time offset in nano seconds relative to the header timestamp in the point cloud (4 byte, uint32), used by rtabmap for deskewing 
                field "ts":        time offset in seconds relative to the header timestamp (4 byte, float32)
                field "lidar_sec":  4 byte seconds part of the lidar timestamp in microseconds (lidar time), lidar_sec = (uint32_t)(lidar_timestamp_microsec / 1000000)
                field "lidar_nsec": 4 byte nano seconds part of the lidar timestamp in microseconds (lidar time), lidar_nsec = (uint32_t)(1000 * (lidar_timestamp_microsec % 1000000))
                field "ring":      layer id (1 byte, int8), identical to field "layer"
                field "layer":     layer (group) index (4 byte, int32), 0 <= layer < 16 for multiScan (16 layer), 0 for picoScan (1 layer)
                field "echo":      echo index (4 byte, int32)
                field "reflector": optional reflector bit (1 byte, uint8), 0 or 1, default: 0
        
        Parameter "echos" defines which echos are included in the pointcloud, e.g.
            echos=0,1,2: all echos
            echos=2: last echo
            or any other combination of 0,1,2

        Parameter "layers" defines which layers are included in the pointcloud, e.g
            layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 for all layers
            layers=6 for the 0 degree layer
            or any other combination of 1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16
        Note: layer ids enumerate from 1 up to 16.

        Parameter "reflectors" filters the points by the reflector bit, i.e.
            reflectors=0,1 for points with reflector bit set or not set
            reflectors=0 for points with reflector bit not set
            reflectors=1 for points with reflector bit set

        Parameter "infringed" defines filters the points by infringement, i.e.
            infringed=0,1 for points with infringement bit set or not set
            infringed=0 for points with infringement bit not set
            infringed=1 for points with infringement bit set
        Parameter "infringed" is currently not supported (reserved for future use)

        Optional parameter "rangeFilter" configures how invalid measurements are filtered in the customized pointcloud.
            rangeFilter=<range_min>,<range_max>,<filter_flag>
        The range (distance) of invalid scan points is 0 and can be filtered, i.e. removed from the pointcloud or set to 0, FLT_MAX or NAN.
        If the range (distance) of a scan point is less than <range_min> or greater than <range_max>, this point is filtered depending on <filter_flag>:
            <filter_flag> = 0: RANGE_FILTER_DEACTIVATED,  do not apply range filter (default)
            <filter_flag> = 1: RANGE_FILTER_DROP,         drop point, if range is not within [range_min, range_max]
            <filter_flag> = 2: RANGE_FILTER_TO_ZERO,      set range to 0, if range is not within [range_min, range_max]
            <filter_flag> = 3: RANGE_FILTER_TO_RANGE_MAX, set range to range_max, if range is not within [range_min, range_max]
            <filter_flag> = 4: RANGE_FILTER_TO_FLT_MAX,   set range to FLT_MAX, if range is not within [range_min, range_max]
            <filter_flag> = 5: RANGE_FILTER_TO_NAN        set range to NAN, if range is not within [range_min, range_max]
        Note: Using range_filter_handling 4 or 5 requires handling of FLT_MAX and NAN values in an application.
        The working range of a multiScan is specified by 0.05 m up to 60 m. Example to drop invalid measurements:
            rangeFilter=0.05,60,1
        Note: "structured" pointclouds contain all scan points (valid and invalid), i.e. these pointclouds are not filtered. Each scan point has a fixed offset in a structured pointcloud.
        "unstructured" pointclouds contain all valid measurements, i.e. these pointclouds are filtered and contain valid scan points only. Azimuth and elevation of the n-th scan point is not constant.

        Parameter "topic" defines the ros topic, e.g. topic=/cloud_fullframe for cartesian fullframe pointclouds

        Parameter "frameid" defines the ros frame of the pointcloud, e.g. frameid=world, frameid=map or frameid=base_link

        Parameter "publish" activates or deactivates the pointcloud, e.g. publish=1 to generate and publish, or publish=0 to deactivate that pointcloud
        -->

        <!-- List of customized pointclouds: -->
        <param name="custom_pointclouds" type="string" value="$(arg custom_pointclouds)"/> <!-- Default pointclouds: segmented pointcloud and fullframe pointcloud with all layers and echos in cartesian coordinates -->
        
        <!-- A list predefined pointclouds is configured below. Use all of them or just a subset, according to your needs. Further customized pointclouds can be added in the following configuration -->
        <!-- param name="custom_pointclouds" type="string" value="cloud_unstructured_segments cloud_polar_unstructured_segments cloud_unstructured_fullframe cloud_unstructured_echo1 cloud_unstructured_echo1_segments cloud_unstructured_echo2 cloud_unstructured_echo2_segments cloud_unstructured_echo3 cloud_unstructured_echo3_segments cloud_unstructured_reflector cloud_unstructured_reflector_segments cloud_structured_hires0 cloud_structured_hires0_segments cloud_structured_hires1 cloud_structured_hires1_segments cloud_structured cloud_structured_segments cloud_all_fields_segments cloud_all_fields_fullframe"/ -->

        <!-- cloud_unstructured_segments: cartesian coordinates, segmented, all echos, all layers, range filter on, max. 2700 points, mean ca. 1000 points per cloud -->
        <param name="cloud_unstructured_segments" type="string" value="coordinateNotation=0 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_segments frameid=world publish=1"/>
        
        <!-- cloud_unstructured_fullframe: cartesian coordinates, fullframe, all echos, all layers, range filter on, max. 32400 points, mean ca. 10000 points per cloud -->
        <param name="cloud_unstructured_fullframe" type="string" value="coordinateNotation=0 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_fullframe frameid=world publish=1"/>

        <!-- cloud_polar_unstructured_segments: polar coordinates, segmented, all echos, all layers, range filter on, max. 2700 points, mean ca. 1000 points per cloud -->
        <param name="cloud_polar_unstructured_segments" type="string" value="coordinateNotation=1 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_polar_unstructured_segments frameid=world publish=1"/>

        <!-- cloud_polar_unstructured_fullframe: polar coordinates, fullframe, all echos, all layers, range filter on -->
        <param name="cloud_polar_unstructured_fullframe" type="string" value="coordinateNotation=1 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_polar_unstructured_fullframe frameid=world publish=1"/>

        <!-- cloud_unstructured_echo1: cartesian coordinates, fullframe, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_echo1" type="string" value="coordinateNotation=0 updateMethod=0 echos=0 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo1 frameid=world publish=1"/>

        <!-- cloud_unstructured_echo1_segments: cartesian coordinates, segmented, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_echo1_segments" type="string" value="coordinateNotation=0 updateMethod=1 echos=0 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo1_segments frameid=world publish=1"/>

        <!-- cloud_unstructured_echo2: cartesian coordinates, fullframe, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_echo2" type="string" value="coordinateNotation=0 updateMethod=0 echos=1 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo2 frameid=world publish=1"/>

        <!-- cloud_unstructured_echo2_segments: cartesian coordinates, segmented, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_echo2_segments" type="string" value="coordinateNotation=0 updateMethod=1 echos=1 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo2_segments frameid=world publish=1"/>

        <!-- cloud_unstructured_echo3: cartesian coordinates, fullframe, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_echo3" type="string" value="coordinateNotation=0 updateMethod=0 echos=2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo3 frameid=world publish=1"/>

        <!-- cloud_unstructured_echo3_segments: cartesian coordinates, segmented, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_echo3_segments" type="string" value="coordinateNotation=0 updateMethod=1 echos=2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_echo3_segments frameid=world publish=1"/>

        <!-- cloud_unstructured_reflector: cartesian coordinates, fullframe, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_reflector" type="string" value="coordinateNotation=0 updateMethod=0 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_reflector frameid=world publish=1"/>

        <!-- cloud_unstructured_reflector_segments: cartesian coordinates, segmented, first echo, all layers, range filter on -->
        <param name="cloud_unstructured_reflector_segments" type="string" value="coordinateNotation=0 updateMethod=1 echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=1 infringed=0,1 rangeFilter=0.05,999,1 topic=/cloud_unstructured_reflector_segments frameid=world publish=1"/>

        <!-- cloud_structured_hires0: cartesian and polar coordinates, fullframe, all echos, range filter off, high resolution layer 6, fields=x,y,z,i,range,azimuth,elevation, number of points: 2880 x NumEchos x NumSegments -->
        <param name="cloud_structured_hires0" type="string" value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=6 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires0 frameid=world publish=1"/>

        <!-- cloud_structured_hires0_segments: cartesian and polar coordinates, segments, all echos, range filter off, high resolution layer 6, fields=x,y,z,i,range,azimuth,elevation -->
        <param name="cloud_structured_hires0_segments" type="string" value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=6 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires0_segments frameid=world publish=1"/>

        <!-- cloud_structured_hires1: cartesian and polar coordinates, fullframe, all echos, range filter off, high resolution layer 14, fields=x,y,z,i,range,azimuth,elevation, number of points: 2880 x NumEchos x NumSegments -->
        <param name="cloud_structured_hires1" type="string" value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=14 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires1 frameid=world publish=1"/>

        <!-- cloud_structured_hires1_segments: cartesian and polar coordinates, segments, all echos, range filter off, high resolution layer 14, fields=x,y,z,i,range,azimuth,elevation -->
        <param name="cloud_structured_hires1_segments" type="string" value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=14 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_hires1_segments frameid=world publish=1"/>

        <!-- cloud_structured: cartesian and polar coordinates, fullframe, all echos, range filter off, low resolution layers 1,2,3,4,5,7,8,9,10,11,12,13,15,16, fields=x,y,z,i,range,azimuth,elevation, 12*360*14*3=181440 points per cloud -->
        <param name="cloud_structured" type="string" value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,7,8,9,10,11,12,13,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured frameid=world publish=1"/>

        <!-- cloud_structured_segments: cartesian and polar coordinates, segments, all echos, range filter off, low resolution layers 1,2,3,4,5,7,8,9,10,11,12,13,15,16, fields=x,y,z,i,range,azimuth,elevation, 360*14*3=15120 points per cloud -->
        <param name="cloud_structured_segments" type="string" value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,7,8,9,10,11,12,13,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_segments frameid=world publish=1"/>

        <!-- cloud_structured: cartesian and polar coordinates, fullframe, all echos, range filter off, low resolution layers 1..16, fields=x,y,z,i,range,azimuth,elevation, 12*360*16*3=181440 points per cloud -->
        <param name="cloud_structured_multiscan_165" type="string" value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured frameid=world publish=1"/>

        <!-- cloud_structured_segments: cartesian and polar coordinates, segments, all echos, range filter off, low resolution layers 1..16, fields=x,y,z,i,range,azimuth,elevation, 360*16*3=15120 points per cloud -->
        <param name="cloud_structured_multiscan_165_segments" type="string" value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_structured_segments frameid=world publish=1"/>

        <!-- cloud_all_fields_segments: all fields (x,y,z,i,range,azimuth,elevation,t,ts,lidar_sec,lidar_nsec,ring,layer,echo,reflector), segments, all echos, all layers, range filter off -->
        <param name="cloud_all_fields_segments" type="string" value="coordinateNotation=3 updateMethod=1 fields=x,y,z,i,range,azimuth,elevation,t,ts,lidar_sec,lidar_nsec,ring,layer,echo,reflector echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_all_fields_segments frameid=world publish=1"/>

        <!-- cloud_all_fields_fullframe: all fields (x,y,z,i,range,azimuth,elevation,t,ts,lidar_sec,lidar_nsec,ring,layer,echo,reflector), fullframe, all echos, all layers, range filter off -->
        <param name="cloud_all_fields_fullframe" type="string" value="coordinateNotation=3 updateMethod=0 fields=x,y,z,i,range,azimuth,elevation,t,ts,lidar_sec,lidar_nsec,ring,layer,echo,reflector echos=0,1,2 layers=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 reflectors=0,1 infringed=0,1 rangeFilter=0,999,0 topic=/cloud_all_fields_fullframe frameid=world publish=1"/>

        <!-- 
        On ROS-1 and ROS-2, sick_scan_xd publishes TF messsages to map a given base frame (i.e. base coordinates system) to the lidar frame (i.e. lidar coordinates system) and vice versa.
        The default base frame id is "map" (which is the default frame in rviz). 
        The default 6D pose is (x,y,z,roll,pitch,yaw) = (0,0,0,0,0,0) defined by position (x,y,z) in meter and (roll,pitch,yaw) in radians.
        This 6D pose (x,y,z,roll,pitch,yaw) is the transform T[base,lidar] with parent "base" and child "lidar".
        For lidars mounted on a carrier, the lidar pose T[base,lidar] and base frame can be configured in this launchfile using the following parameter.
        The lidar frame id given by parameter "frame_id" resp. "publish_frame_id".
        Note that the transform is specified using (x,y,z,roll,pitch,yaw). In contrast, the ROS static_transform_publisher uses commandline arguments in order (x,y,z,yaw,pitch,roll).
        -->
        <param name="tf_base_frame_id" type="string" value="map" />              <!-- Frame id of base coordinates system, e.g. "map" (default frame in rviz) -->
        <param name="tf_base_lidar_xyz_rpy" type="string" value="0,0,0,0,0,0" /> <!-- T[base,lidar], 6D pose (x,y,z,roll,pitch,yaw) in meter resp. radians with parent "map" and child "cloud" -->
        <param name="tf_publish_rate" type="double" value="$(arg tf_publish_rate)" />                <!-- Rate to publish TF messages in hz, use 0 to deactivate TF messages -->

        <!-- 
        Optional mode to convert lidar ticks to ros- resp. system-timestamps:
        tick_to_timestamp_mode = 0 (default): convert lidar ticks in microseconds to system timestamp by software-pll
        tick_to_timestamp_mode = 1 (optional tick-mode): convert lidar ticks in microseconds to timestamp by 1.0e-6*(curtick-firstTick)+firstSystemTimestamp
        tick_to_timestamp_mode = 2 (optional tick-mode): convert lidar ticks in microseconds directly into a lidar timestamp by sec = tick/1000000, nsec = 1000*(tick%1000000)
        Note: Using tick_to_timestamp_mode = 2, the timestamps in ROS message headers will be in lidar time, not in system time. Lidar and system time can be very different.
        Using tick_to_timestamp_mode = 2 might cause unexpected results or error messages. We recommend using tick_to_timestamp_mode = 2 for special test cases only.
        -->
        <param name="tick_to_timestamp_mode" type="int" value="0"/>

    </node>

</launch>