sick laser unit: local changes on ARMAR-7

source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp

@@ -120,7 +120,7 @@ namespace armarx
         }
         if (this->result == sick_scan::ExitSuccess) // OK -> loop again
         {
-            ARMARX_INFO_S << "Scanner " << ip << " successfully initialized.";
+            ARMARX_INFO_S << "Scanner `" << ip << "` successfully initialized.";
             this->runState = RunState::scannerRun; // after initialising switch to run state
         }
         else

source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.h

@@ -138,7 +138,7 @@ namespace armarx
             int timelimit = 5;
 
             double rangeMin  = 0.0;
-            double rangeMax = 10.0;
+            double rangeMax = 12.0;
 
             std::string robotName = "Armar6";
         };

source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp

@@ -435,7 +435,7 @@ namespace armarx
         // FIXME scan info is not set atm.
         scanInfo.minAngle = VirtualRobot::MathTools::deg2rad(-45);
         scanInfo.maxAngle = VirtualRobot::MathTools::deg2rad(225);
-        scanInfo.stepSize = VirtualRobot::MathTools::deg2rad(0.33);
+        scanInfo.stepSize = (scanInfo.maxAngle - scanInfo.minAngle) / (distVal.size()-1);
 
         ARMARX_VERBOSE << "Min/max angle: " << VirtualRobot::MathTools::rad2deg(scanInfo.minAngle) << ", " << VirtualRobot::MathTools::rad2deg(scanInfo.maxAngle) << "";
 

source/RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.cpp

@@ -22,6 +22,7 @@
 
 #include <Ice/ObjectAdapter.h>
 
+#include "ArmarXCore/core/logging/Logging.h"
 #include <ArmarXCore/core/ArmarXManager.h>
 
 #include "RobotUnitDataStreamingReceiver.h"
@@ -59,8 +60,8 @@ namespace armarx::detail::RobotUnitDataStreamingReceiver
             static_assert(sizeof(std::uint64_t) == sizeof(msgSequenceNbr));
             const auto seq = static_cast<std::uint64_t>(msgSequenceNbr);
             std::lock_guard g{_data_mutex};
-            ARMARX_INFO << deactivateSpam()
-                        << "received " << data.size() << " timesteps";
+            ARMARX_VERBOSE << deactivateSpam()
+                           << "received " << data.size() << " timesteps";
             _data[seq] = data;
         }