Add scan5 stream support to VanJee Lidar driver#1068
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Always enable the registration and publishing of the 'scan5' output representing the -5 degree scan line (from the self.points[3::8] slice) in the WLR-719C driver. This allows down-stream modules to leverage this additional vertical layer. Included an automated test to verify correct stream registration and publishing behavior.
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p.s. I am also thinking about publishing the intensity/reflectivity, but for SICK lidar we have this commented out (remission) and for ouster_lidar there is (reflectivity) corresponding to points in scan3d (?). For this one I will probably create separate PR, thanks |
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I am adding @Jaroslav-Krch just as a note for myself to add into OSGAR also the other livox 360deg sensor ... |
tajgr
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Jun 21, 2026
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I would prefer scan3d for this kind of sensors.
Its fine for me.
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Always enable the registration and publishing of the 'scan5' output representing the -5 degree scan line (from the self.points[3::8] slice) in the WLR-719C driver. This allows down-stream modules to leverage this additional vertical layer. Included an automated test to verify correct stream registration and publishing behavior.