Switch Laser Fields

Four different field sets for the SickS300 in the old generation of Neobotix robots can be easily configured through the Sick CDS software. The relays 2 and 3 of the relayboard are connected to the inputs of the master laser scanner.

In ROS 2, the field set can be switch easily by triggering the relays. In order to do it, the user must use the /set_relays service to trigger the corresponding relays in order to achieve the desired set. The service can be either triggered from the command line or from your application code. Note that there should be atleast a minimum time interval of 100ms while calling the service consequitive times.

The details of the service can be found here.