From 3f578ad14c799e4094844b81565fdff042a15a56 Mon Sep 17 00:00:00 2001
From: girvenavery2022 <girvenavery@gmail.com>
Date: Wed, 6 Apr 2022 00:13:33 -0400
Subject: [PATCH 1/2] removed ls publisher function

---
 include/ros2_sick/LMS1xx_node.hpp | 6 ------
 src/LMS1xx_node.cpp               | 8 +++-----
 2 files changed, 3 insertions(+), 11 deletions(-)

diff --git a/include/ros2_sick/LMS1xx_node.hpp b/include/ros2_sick/LMS1xx_node.hpp
index 2d78240..120b8d2 100644
--- a/include/ros2_sick/LMS1xx_node.hpp
+++ b/include/ros2_sick/LMS1xx_node.hpp
@@ -25,7 +25,6 @@
 #include <ros2_sick/LMS1xx/LMS1xx.h>
 #include <tf2/exceptions.h>
 #include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
 
 #include <chrono>
 #include <memory>
@@ -83,11 +82,6 @@ class Sick : public rclcpp::Node
     */
   void get_measurements();
 
-  /**
-    * @brief publishes scan messages
-    */
-  void publish_scan();
-
   /**
     * @brief publishes cloud messages
     */
diff --git a/src/LMS1xx_node.cpp b/src/LMS1xx_node.cpp
index ce7081e..13b45a8 100644
--- a/src/LMS1xx_node.cpp
+++ b/src/LMS1xx_node.cpp
@@ -26,7 +26,7 @@ Sick::Sick(rclcpp::NodeOptions options) : Node("sick_node", options)
 void Sick::connect_lidar()
 {
   RCLCPP_INFO(this->get_logger(), "Connecting to Lidar");
-  laser.connect(host, port);
+  //laser.connect(host, port);
 
   if (!laser.isConnected())
   {
@@ -65,7 +65,7 @@ void Sick::connect_lidar()
 void Sick::construct_scan()
 {
   scan_msg.header.frame_id = frame_id;
-  scan_msg.range_min = 0.01;
+  scan_msg.range_min = 0.5;
   scan_msg.range_max = 20.0;
   scan_msg.scan_time = 100.0 / cfg.scaningFrequency;
   scan_msg.angle_increment =
@@ -158,7 +158,7 @@ void Sick::get_measurements()
       {
         scan_msg.intensities[i] = data.rssi1[i];
       }
-      publish_scan();
+      ls_publisher_->publish(scan_msg);
       publish_cloud();
     }
     else
@@ -174,8 +174,6 @@ void Sick::get_measurements()
   laser.disconnect();
 }
 
-void Sick::publish_scan() { ls_publisher_->publish(scan_msg); }
-
 void Sick::publish_cloud()
 {
   sensor_msgs::msg::PointCloud2 cloud_msg;

From 0898917f734a7559e999d11ac2fdd1bc8c96d7e7 Mon Sep 17 00:00:00 2001
From: girvenavery2022 <girvenavery@gmail.com>
Date: Wed, 6 Apr 2022 00:21:56 -0400
Subject: [PATCH 2/2] oops

---
 src/LMS1xx_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/LMS1xx_node.cpp b/src/LMS1xx_node.cpp
index 13b45a8..ca7b380 100644
--- a/src/LMS1xx_node.cpp
+++ b/src/LMS1xx_node.cpp
@@ -26,7 +26,7 @@ Sick::Sick(rclcpp::NodeOptions options) : Node("sick_node", options)
 void Sick::connect_lidar()
 {
   RCLCPP_INFO(this->get_logger(), "Connecting to Lidar");
-  //laser.connect(host, port);
+  laser.connect(host, port);
 
   if (!laser.isConnected())
   {