extracting IMU data (e.g. orientation)

[IgnaceP]

Is it possible to extract data from the IMU, for instance, orientation (Picoscan 150)?

[gschwsiSICKAG]

This is not currently included in this package. For more information on the UDP-based IMU data structure, see the data format description (page 21): https://cdn.sick.com/media/docs/3/23/623/technical_information_data_format_description_en_im0104623.pdf

Alternatively, you can retrieve the IMU data via the REST interface (http://192.168.0.1/api/InertialMeasurementUnit), which is documented in the OpenAPI (https://www.sick.com/de/en/downloads/media/swp678507). In this case, this repository might also be helpful: https://github.com/SICKAG/sick_scan_rest_client

[IgnaceP]

Thank you for the quick reply. We will explore the REST API. In the meantime, we have an issue with the python API. I have connected the PICOSCAN and can correctly connect to it through SOPASair but when trying to connect through the Python API (process_compact.py), I get the following error message:

timed out
Received segment 0.
Missing start of frame sequence [0x02 0x02 0x02 0x02].
Failed to extract payload from data.

Let me know if you need more info. Thanks in advance.

[gschwsiSICKAG]

Do you work on Windows? If yes, make sure your interface is private:

Get-NetConnectionProfile
Set-NetConnectionProfile -InterfaceIndex 15 -NetworkCategory Private

The Video "How to use ScanSegmentAPI (Python)?" also shows an example on how to use it: https://support.sick.com/sick-knowledgebase/article/?code=KA-09379#how-to-use-the-rest-api-client-(sick_scan_rest_client)?

[IgnaceP]

No, on macos.

[gschwsiSICKAG]

Have you enabled data output?

Is your firewall blocking something?
Do you see UDP packets arriving on your interface (it's best to check with Wireshark)?

[IgnaceP]

data output is enabled.
I tried without a firewall, but with no luck.

UDP packets are arriving to the ip adress I listed in the python code.

part of the python code:

Port used for data streaming. Enter the port configured in your device.

PORT = 2115

IP of the receiver.

IP = "169.254.247.89"

[gschwsiSICKAG]

Some troubleshooting thoughts:

Network issues (likely cause):

• Have you checked the open UDP ports on your MAC?
  → “Destination unreachable” messages should not appear in your Wireshark logs.
• Have you tried using a different port on the MAC side?
  → Adjust both the SOPASair GUI settings and the corresponding port number in the Python file.
• Have you tested a different IP address or subnet?
  → Note: The IP address range 169.254.1.{1–15} is reserved for internal device communication and must not be assigned to the device.

ScanSegmentAPI issue:

• To rule out problems with the ScanSegmentAPI, try writing a minimal UDP receiver script for the relevant port to verify whether any data is received.

Device issues (unlikely):

• Which firmware version is running on your picoScan150?
  → The latest firmware can be downloaded here: SICK Firmware Download – picoScan150

[gschwsiSICKAG]

Another option would be to reduce the angular resolution

and the field of view

to see if your system can handle smaller UDP frames. If this resolves the issue, you can further investigate the UDP frame size settings on macOS.