Sick Safevisionary Driver

This is the official ROS2 driver for the Sick safeVisionary2 cameras. See the top-level readme for getting started.

Lifecycle states

This driver implements a thin ROS2 wrapper around the sick_safevisionary_base library in form of a lifecycle node. In contrast to conventional ROS2 nodes, lifecycle nodes give us more control about the driver’s individual states. This is handy e.g. when performing a clean reset at runtime. You’ll find more information on the individual states and state transitions in this design article.

This driver’s behavior is roughly as follows:

Managing the lifecycle

ROS2 has a command line interface to trigger state transitions. Here are the commands to get the /sick_safevisionary node through its primary states:

ros2 lifecycle set /sick_safevisionary configure
ros2 lifecycle set /sick_safevisionary activate
ros2 lifecycle set /sick_safevisionary deactivate
ros2 lifecycle set /sick_safevisionary shutdown

Also see this example from the integration tests how to do that in Python.

Changelog for package sick_safevisionary_driver

1.0.3 (2023-11-25)

• Use ROS version-dependent cv_bridge include
• Contributors: Stefan Scherzinger

1.0.2 (2023-11-23)

• Add rosdep key for [boost]{.title-ref}
• Contributors: Stefan Scherzinger

1.0.1 (2023-11-22)

• Update maintainer tags

• Transition from configuring to active by itself once on launch (#2)

  • Transition from configuring to active by itself once on launch
  • Initially deactivate and cleanup node during integration test

  * Added additional comments to clarify launch file Co-authored-by: Stefan Scherzinger <<scherzin@fzi.de>>

  • Updated ReadMe for auto lifecycle configuration

  * Updated driver ReadMe for auto lifecycle configuration Co-authored-by: Stefan Scherzinger <<scherzin@fzi.de>>

• Add a readme for the driver package Also rename the sensor in the tests package for consistency.

• Add a launch file parameter for CI testing We now use a launch file parameter to specify if we are running as part of a CI pipeline and don't check the UDP connection if that's the case. Also provide the [port]{.title-ref} and [frame_id]{.title-ref} as launch file parameters.

• Add configure check for the UDP connection The [configure]{.title-ref} lifecycle transition now fails if there's no incoming sensor data, i.e. if something's wrong with the connection.

• Changed doxygen indentation

• Added doxygen comments

• Initialize shared pointer correctly

• Added license and maintainer infos

• Message variable cleanup

• added header to custom msgs

• Put pointcloud publisher to the end since its non const

• Check if intensity and points vector match

• Publish topics in node namespace

• Fixed dependency issues

• Publish depth,intensity and state map

• Publish field information

• Publish region of interest

• Publish ios

• Publish device status

• Naming consistency

• Publish Pointcloud

• Publish IMU data

• Only publish with a non-zero subscription count This keeps the driver's computations lean if nobody is listening.

• Make [frame_id]{.title-ref} a parameter This allows users to set the [frame_id]{.title-ref} of the published messages at runtime via the node's parameter interfaces.

• Use a unique pointer for the compound publisher That's cleaner and makes sure that the compound publisher is valid after construction.

• Add a publisher for camera info We use a separate class to encapsulate the different publishers so that the lifecycle part stays nice and clean.

• Format launch file with black

• Add an integration test for repetitive driver resets

• Add boilerplate code for integration tests

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