No full frame picoscan 150, from callback

[sisusch]

Hello everyone,
I would like to collect the data that I receive from the various frames generated by the picoscan 150 sensor.
At the moment is set to 15hz, 0.05° angle step in compact format udp.
In particular, I am only interested in collecting the fullframe with all the points and not the partial segmented ones. I followed the various posts, but I do not receive any element with segment id -1, when the call back is called.

Below I report the code in which I inserted a brake point inside the if, but this is never triggered.
In attachment to wireshark sniff, the CLI reply and the launchfile configuration.

Kind regards

void customizedPointCloudMsgCb(SickScanApiHandle apiHandle, const SickScanPointCloudMsg* msg)
{
	//std::cout << "C++ PointCloudMsgCb: " << msg->width << " x " << msg->height << " pointcloud message received" << std::endl;

	// Calcolare la dimensione totale del buffer da ricostruire
	size_t total_size = msg->row_step * msg->height;  // Dimensione totale del buffer (in byte)

	// Alloca il buffer completo per contenere tutti i dati e fare una hard copy prima che un altro settori sia pronto
	uint8_t* full_buffer = new uint8_t[total_size];

	// Variabile per tracciare la posizione corrente nel buffer
	size_t current_index = 0;
	if (msg->segment_idx == -1)
	{
		std::cout << "Segment number:" << msg->segment_idx << std::endl;
	}

}

sick_picoscan no full frame.zip

no_full_frame.txt