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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.
Recent questions tagged sick_scan at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.10.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/SICKAG/sick_scan.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-05 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A ROS driver for the SICK TiM and SICK MRS series of lidars.
This package is based on the original sick_tim-repository of Martin Günther et al.
Additional Links
Maintainers
- Michael Lehning
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
IMPORTANT: This repository will not be maintained further. The sources have been completely transferred to the repository https://github.com/SICKAG/sick_scan_xd. The repository will be deleted after 12/31/2022 in 2023 without further notice.
sick_scan
This stack provides a ROS driver for the SICK lidar and radar sensors mentioned in the following list. The SICK MRS6124 is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments.
Remark
During the last years we have developed different repositories within the driver development with the projects sick_scan, sick_scan2 and sick_scan_base, with which many lidars and radars of our company can be used under ROS1, ROS2 and generically under C++. For harmonization, due to customer requests and to increase clarity, we decided to combine these developments in the future. As a result of this work, at the end of 2021 we have created the repository sick_scan_xd, where we will continue future developments. We recommend using this new repository for development so that you can continue to benefit from our improvements and additions to our drivers.
Table of Contents
- Supported Hardware
- Start node
- Bugs and feature requests
- Tools
- Troubleshooting
- SLAM-Support
- Radar
- Profiling
- Testing
- Creators
Supported Hardware
This driver should work with all of the following products.
ROS Device Driver for SICK lidar and radar sensors - supported scanner types:
| device name | part no. | description | tested? |
|---|---|---|---|
| MRS6124 | 6065086 | 24 layer max. range: 200 m, ang. resol. 0.13 [deg] hor., 0.0625 [deg] ver. | ✔ [stable] |
| Scan-Rate: 10 Hz | |||
| MRS1104 | 1081208 | 4 layer max. range: 64 m, ang. resol. 0.25 [deg] hor., 2.50 [deg] ver. | ✔ [stable] |
| Scan-Rate: 50 Hz, 4x12.5 Hz | |||
| LMS1104 | 1092445 | 1 layer max. range: 64 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 150 Hz, 4x37.5 Hz | |||
| TiM240 | 1104981 | 1 layer max. range: 10 m, ang. resol. 1.00 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 14.5 Hz | |||
| TiM433 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM443 | prototype | 1 layer range: 0.05 m … 15 m, ang. resol. 0.33 [deg], 240 [deg] | ✔ [prototype] |
| Scan-Rate: 15.0 Hz | |||
| TiM551 | 1060445 | 1 layer max. range: 10 m, ang. resol. 1.00[deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM561 | 1071419 | 1 layer max. range: 10 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM571 | 1079742 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM771S | 1105052 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781 | 1096807 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| TiM781S | 1096363 | 1 layer max. range: 25 m, ang. resol. 0.33 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| LMS511-10100 PRO | e.g. 1046135 | 1 layer max. range: 80 m, ang. resol. 0.167 [deg] | ✔ [stable] |
| Scan-Rate: 100 Hz | |||
| LMS1xx-Family | e.g. 1041114 | 1 layer max. range: 28 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 15 Hz | |||
| NAV310 | e.g. 1052928 | 1 layer max. range: 250 m, ang. resol. 0.125 [deg] | ✔ [stable] |
| Scan-Rate: 8 Hz | |||
| NAV210+NAV245 | e.g. 1074308 | 1 layer max. range: 100 m, ang. resol. 0.25 [deg] | ✔ [stable] |
| Scan-Rate: 25 Hz | |||
| LMS4xxx-Family | e.g. 1091423 | 1 layer max. range: 3 m, ang. resol. 0,0833 [deg] | ✔ [stable] |
| Scan-Rate: 600 Hz | |||
| Opening angle: +/- 50 [deg] | |||
| RMS3xx | 8021530 | Radar Sensor | ✔ [stable] |
IMU Support
Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.
Start Node
Use the following command to start ROS node:
- For MRS6124:
roslaunch sick_scan sick_mrs_6xxx.launch
- For MRS1104:
roslaunch sick_scan sick_mrs_1xxx.launch
- For LMS1104:
roslaunch sick_scan sick_lms_1xxx.launch
- For TiM240-prototype:
roslaunch sick_scan sick_tim_240.launch
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package sick_scan
1.12.1
- Corrected angle shift parameter for LMS-4xxx
1.12.0
- bugfix #158 (driver terminates)
- modified SOPAS-startup sequence
1.11.0 (2021-07-13)
- Added option min_intensity
1.10.1 (2021-03-18)
- Update ipconfig.md
- Update ipconfig.md
- Update ipconfig.md
- Contributors: Michael Lehning
1.7.8 (2020-09-02)
- fixes #100
- Update software_pll.md
- software pll information added
- Update angular_compensation.md
- angle compensator
- compensation example plot updated
- angle compensation fixed for NAV2xx
- sizt_t warning reduced, bugfix for result flag by changing ip address
- network comp. to windows
- pcl dependency modified
- Contributors: Michael Lehning
1.6.0 (2020-05-14)
- NAV 210+NAV245 support added code reformated
- NAV310 added
- Contributors: Michael Lehning
1.4.2 (2019-11-14)
- fixed timing issues with MRS6124
- added launch info for lms4xxx
- added LMS 4xxx support
- tim_7xxS dependencys included
- Adding info for 7xxS-Launch-file
- safety scanner added
- added dependency for thrusty
- added information about TIM 7xx launch
- IMU Support, scan freq. and angle. resolution settings added
- TiM7xx integrated
- typical startup sequence
- added lms1xx hires mode
- added support for high ang. resolution for LMS 1xx
- added pointcloud chopping
- Issue resolve handling added
- Pointcloud splitting prepared
- added timing documentation
- cartographer support improved
- improved IMU support
- Update google_cartographer.md
- added Networktiming PLL
- improved performance, start of tim7xx integration
- Contributors: Michael Lehning
0.0.16 (2019-02-14)
- Update README.md
- Improved performance
0.0.15 (2019-02-05)
- Update README.md
- Support for Ubuntu Trusty [#001 <https://github.com/SICKAG/sick_scan/issues/001>]{.title-ref}
- ip v4 parsing changed due to support of older linux version
- Contributors: Michael Lehning, Unknown
0.0.14 (2019-01-31)
- Merge branch 'devel'
- ip address setting support, improved Debug MSG
- Updated MRS6xxx launchfile
- getting diagrams otimized for MRS6124
- Warning option as comment added
- compilation fixes for uninitialized variables and no return functions
- writing ip address to eeprom prepared
- improved imu support
- added Python script to detect scanners
- Added first implementation of imu support
- IMU message handling prepared
- added Ip arg name
- Updated meshes
- Sample file for launching and rviz-config files
- Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| rospy | |
| sensor_msgs | |
| visualization_msgs | |
| diagnostic_updater | |
| dynamic_reconfigure | |
| message_generation | |
| tf | |
| tf2 | |
| catkin | |
| pcl_conversions | |
| pcl_ros | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/demo_roscon.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: false]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/demo_roscon.rviz]
- launch/laser_radar_combo.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- launch/pcl_converter.launch
- LAUNCH FILE
-
- launch/radar_object_marker.launch
- LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
-
- launch/rviz/sick_twin_mrs6xxx_tim5xx.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/sick_lms_1xx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xx_encoder.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_1xxx.launch
- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_4xxx.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_4xxx_encoder.launch
- ********************************************** Launch File for LMS 4xxx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -35 degree. Default max_angle is +35 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_lms_5xx.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_lms_5xx_encoder.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_1xxx.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_mrs_1xxx_cartographer.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- imu_frame_id [default: imu_link]
- launch/sick_mrs_6xxx.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_first_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_last_echo.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_mrs_6xxx_narrow.launch
- EXPERIMENTAL - brand new driver
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_2xx.launch
-
- hostname [default: 192.168.0.1]
- launch/sick_nav_3xx.launch
- LAUNCH FILE FOR NAV310
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_nav_3xx_ascii.launch
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.2]
- launch/sick_rms_3xx.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- emul_sensor [default: false]
- launch/sick_rms_3xx_emul.launch
- LAUNCH-FILE for RMS3xx - Radar device EXPERIMENTAL - brand new driver Only SOPAS-ASCII supported.
-
- hostname [default: 192.168.0.1]
- launch/sick_tim_240.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_240_bin.launch
- ********************************************** Launch File for TIM 240 scanner ********************************************** Start and stop angle is given in [rad] Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- port [default: 2111]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_4xx.launch
- ********************************************** Launch File for TiM 4xx lidar family Family covers TiM 433 and TiM 443. ********************************************** Start and stop angle is given in [rad] Default min_angle is -120 degree (-2.09439510 rad). Default max_angle is +120 degree (+2.09439510 rad). Axis orientation is given in ROS standard notation. X . . . . Y .........+ (Z-Axis upwards to you - right hand rule) +............+ | | | Top View | | Device | | | +............+ . . . . . . Power Ethernet Cable Cacle Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_ASCII.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_new_ip.launch
- !!!EXPERIMENTAL!!! !!! ONLY BINARY COMMAND SUPPORT !!! ********************************************** Lanch File for setting new ip address ********************************************** This is an experimental launch file to set a new ip address in the scanner. Maybe one should add a EEPROM-write command. But in our tests this was not necessary.
-
- hostname [default: 192.168.0.1]
- new_IP [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_5xx_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- hostname1 [default: 192.168.0.1]
- hostname2 [default: 192.168.0.2]
- launch/sick_tim_7xx.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/sick_tim_7xxS.launch
- ********************************************** Launch File for TIM 5xx scanner ********************************************** Start and stop angle is given in [rad] Default min_angle is -135 degree. Default max_angle is +135 degree. Check IP-address, if you scanner is not found after roslaunch.
-
- hostname [default: 192.168.0.1]
- cloud_topic [default: cloud]
- frame_id [default: cloud]
- launch/t.launch
- ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
-
- hostname [default: 192.168.0.151]
- launch/test_001_pcl.launch
- Example launch for testing pointcloud to image converter
-
- launch/test_002_combi_live.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_002_combi_live_traffic.launch
- Example launch for testing live cooperation of radar and laserscanner
-
- record_data [default: false]
- launch/test_003_mrs1xxx_tf_show.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_004_mrs1xxx_slam.launch
- LAUNCH FILE
-
- hostname [default: 192.168.0.1]
- launch/test_005_hector.launch
-
- hostname [default: 192.168.0.1]
- tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
- base_frame [default: base_link]
- odom_frame [default: base_link]
- pub_map_odom_transform [default: true]
- scan_subscriber_queue_size [default: 5]
- scan_topic [default: scan]
- map_size [default: 2048]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/hector.rviz]
- launch/test_006_radar_emul_vis.launch
- LAUNCH-FILE for RMS3xx - Radar device emulation and visualisation
-
- emul_sensor [default: true]
- rawtarget_sphere_radius [default: 1.0]
- rawtarget_palette_name [default: viridis.pal]
- rawtarget_palette_min_ampl [default: 30.0]
- rawtarget_palette_max_ampl [default: 70.0]
- rawtarget_arrow_scale [default: 1.0]
- object_arrow_scale [default: 1.0]
- hostname [default: 192.168.0.1]
- rviz [default: true]
- rviz_file [default: $(find sick_scan)/launch/rviz/radar.rviz]
- launch/test_100_roscon_tim_twin.launch
- Example launch of using two scanners in parallel In this example we use two TIM5xx-scanner with a mounting distance of 2 m. Do see the result in rviz we recommend the following settings: 1. Global Options->Fixed Frame: map 2. Pointcloud2->Topic: /cloud_1 3. Pointcloud2->Topic: /cloud_2 4. Modify the given ip addresses to your local setup. Remark: Add two Pointcloud2-Visualizer to the Displays-Windows. You can also add two Laserscan-Visualizer. Please set the topic for laserscan-Visualizer to /scan_1 and /scan_2 in this case.
-
- launch/test_101_pcl.launch
- Example launch for testing pointcloud to image converter
-
- test/emulator/launch/emulator_01_default.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/sopas_et_field_test_1_2_both_010.pcapng.json,$(find sick_scan)/scandata/20210113_tim871s_elephant.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_02_toggle_fieldsets.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/fieldset_trial_0001.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_03_2nd_fieldset.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan)/scandata/20210125-tim781s-scandata.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_04_fieldset_test.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms1xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210302_lms111.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/emulator/launch/emulator_lms5xx.launch
-
- scandatafiles [default: $(find sick_scan)/scandata/20210301_lms511.pcapng.json,$(find sick_scan)/scandata/20210302_lms511.pcapng.json]
- scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
- test/sick_scan_test_lms_1xx.xml
- test/sick_scan_test_lms_1xxx.xml
- test/sick_scan_test_lms_1xxx_all_echos.xml
- test/sick_scan_test_lms_5xx.xml
- test/sick_scan_test_mrs_1xxx.xml
- test/sick_scan_test_mrs_6xxx.xml
- test/sick_scan_test_mrs_6xxx_all_echos.xml
- test/sick_scan_test_tim_551_ascii.xml
- test/sick_scan_test_tim_551_binary.xml
- test/sick_scan_test_tim_561_ascii.xml
- test/sick_scan_test_tim_561_binary.xml
- test/sick_scan_test_tim_571_ascii.xml
- test/sick_scan_test_tim_571_binary.xml
- test/sick_scan_test_tim_5xx.xml
Messages
- msg/Encoder.msg
- msg/ImuExtended.msg
- msg/LFErecFieldMsg.msg
- msg/LFErecMsg.msg
- msg/LIDoutputstateMsg.msg
- msg/RadarObject.msg
- msg/RadarPreHeader.msg
- msg/RadarPreHeaderDeviceBlock.msg
- msg/RadarPreHeaderEncoderBlock.msg
- msg/RadarPreHeaderMeasurementParam1Block.msg
- msg/RadarPreHeaderStatusBlock.msg
- msg/RadarScan.msg
- msg/SickImu.msg
- test/emulator/msg/SickLocColaTelegramMsg.msg
- test/emulator/msg/SickLocDiagnosticMsg.msg
- test/emulator/msg/SickLocResultPortCrcMsg.msg
- test/emulator/msg/SickLocResultPortHeaderMsg.msg
- test/emulator/msg/SickLocResultPortPayloadMsg.msg
- test/emulator/msg/SickLocResultPortTelegramMsg.msg
- test/emulator/msg/SickLocResultPortTestcaseMsg.msg
Services
- srv/ColaMsgSrv.srv
- srv/ECRChangeArrSrv.srv
- srv/LIDoutputstateSrv.srv
- test/emulator/srv/SickDevGetLidarConfigSrv.srv
- test/emulator/srv/SickDevGetLidarIdentSrv.srv
- test/emulator/srv/SickDevGetLidarStateSrv.srv
- test/emulator/srv/SickDevIMUActiveSrv.srv
- test/emulator/srv/SickDevSetIMUActiveSrv.srv
- test/emulator/srv/SickDevSetLidarConfigSrv.srv
- test/emulator/srv/SickGetSoftwareVersionSrv.srv
- test/emulator/srv/SickLocAutoStartActiveSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocAutoStartSavePoseSrv.srv
- test/emulator/srv/SickLocColaTelegramSrv.srv
- test/emulator/srv/SickLocForceUpdateSrv.srv
- test/emulator/srv/SickLocInitialPoseSrv.srv
- test/emulator/srv/SickLocInitializePoseSrv.srv
- test/emulator/srv/SickLocIsSystemReadySrv.srv
- test/emulator/srv/SickLocMapSrv.srv
- test/emulator/srv/SickLocMapStateSrv.srv
- test/emulator/srv/SickLocOdometryActiveSrv.srv
- test/emulator/srv/SickLocOdometryPortSrv.srv
- test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocRequestResultDataSrv.srv
- test/emulator/srv/SickLocRequestTimestampSrv.srv
- test/emulator/srv/SickLocResultEndiannessSrv.srv
- test/emulator/srv/SickLocResultModeSrv.srv
- test/emulator/srv/SickLocResultPortSrv.srv
- test/emulator/srv/SickLocResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocResultStateSrv.srv
- test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv
- test/emulator/srv/SickLocSetAutoStartActiveSrv.srv
- test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv
- test/emulator/srv/SickLocSetMapSrv.srv
- test/emulator/srv/SickLocSetOdometryActiveSrv.srv
- test/emulator/srv/SickLocSetOdometryPortSrv.srv
- test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv
- test/emulator/srv/SickLocSetPoseSrv.srv
- test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv
- test/emulator/srv/SickLocSetResultEndiannessSrv.srv
- test/emulator/srv/SickLocSetResultModeSrv.srv
- test/emulator/srv/SickLocSetResultPortSrv.srv
- test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv
- test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv
- test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv
- test/emulator/srv/SickLocStartDemoMappingSrv.srv
- test/emulator/srv/SickLocStartLocalizingSrv.srv
- test/emulator/srv/SickLocStateSrv.srv
- test/emulator/srv/SickLocStopSrv.srv
- test/emulator/srv/SickLocTimeSyncSrv.srv
- test/emulator/srv/SickReportUserMessageSrv.srv
- test/emulator/srv/SickSavePermanentSrv.srv
Plugins
No plugins found.