• launch/demo_roscon.launch
  • LAUNCH-FILE for 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_xd)/launch/rviz/demo_roscon.rviz]
• launch/laser_radar_combo.launch
  • LAUNCH-FILE for lidar radar combo EXPERIMENTAL 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_ldmrs.launch
  • Launch File for LDMRS
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • frame_id [default: cloud]
    • nodename [default: sick_ldmrs]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
• launch/sick_lms_1xx.launch
  • FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • nodename [default: sick_lms_1xx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • encoder_mode [default: -1]
    • tf_publish_rate [default: 10.0]
• launch/sick_lms_1xxx.launch
  • FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • nodename [default: sick_lms_1xxx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_lms_1xxx_v2.launch
  • FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT.
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • nodename [default: sick_lms_1xxx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• 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. SOPAS angles in lidar coordinates: min_angle = 55 deg, max_angle = 125 deg, delta = 125-55 = 70 deg Angle offset -90 degree: (55-90 = -35 deg, 125-90 = +35 deg) Angle configuration in ROS coordinates: min_angle = -35 deg, max_angle = +35 deg, delta = 70 deg Check IP-address, if you scanner is not found after roslaunch.
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • nodename [default: sick_lms_4xxx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • encoder_mode [default: -1]
    • tf_publish_rate [default: 10.0]
• launch/sick_lms_5xx.launch
  • ***************************************************************************** * Launch Example File for SICK LMS 511 * *****************************************************************************
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • nodename [default: sick_lms_5xx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • encoder_mode [default: -1]
    • tf_publish_rate [default: 10.0]
• launch/sick_lrs_36x0.launch
  • Using node option required="true" will close roslaunch after node exits
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: True]
    • scan_cfg_list_entry [default: 1]
    • skip [default: 0]
    • nodename [default: sick_lrs_36x0]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_lrs_36x0_upside_down.launch
  • Using node option required="true" will close roslaunch after node exits
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: True]
    • scan_cfg_list_entry [default: 1]
    • skip [default: 0]
    • nodename [default: sick_lrs_36x0]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_lrs_36x1.launch
  • Using node option required="true" will close roslaunch after node exits
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: True]
    • scan_cfg_list_entry [default: 1]
    • skip [default: 0]
    • nodename [default: sick_lrs_36x1]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_lrs_36x1_upside_down.launch
  • Using node option required="true" will close roslaunch after node exits
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: True]
    • scan_cfg_list_entry [default: 1]
    • skip [default: 0]
    • nodename [default: sick_lrs_36x1]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_lrs_4xxx.launch
  • Using node option required="true" will close roslaunch after node exits
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • scan_cfg_list_entry [default: 1]
    • skip [default: 0]
    • nodename [default: sick_lrs_4xxx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • encoder_mode [default: -1]
    • tf_publish_rate [default: 10.0]
    • imu_enable [default: true]
    • imu_topic [default: imu]
    • imu_frame_id [default: imu_link]
• launch/sick_mrs_1xxx.launch
  • LAUNCH FILE
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • imu_enable [default: true]
    • imu_topic [default: imu]
    • imu_frame_id [default: imu_link]
    • nodename [default: sick_mrs_1xxx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • ang_res [default: 0]
    • scan_freq [default: 0]
    • scan_layer_filter [default: 4 1 1 1 1]
    • tf_publish_rate [default: 10.0]
• launch/sick_mrs_1xxx_cartographer.launch
  • LAUNCH FILE
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • imu_frame_id [default: imu_link]
    • imu_topic [default: imu]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_mrs_6xxx.launch
  • EXPERIMENTAL - brand new driver
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • imu_topic [default: imu]
    • frame_id [default: cloud]
    • nodename [default: sick_mrs_6xxx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_mrs_6xxx_first_echo.launch
  • EXPERIMENTAL - brand new driver
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_mrs_6xxx_last_echo.launch
  • EXPERIMENTAL - brand new driver
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_mrs_6xxx_narrow.launch
  • EXPERIMENTAL - brand new driver
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_multiscan.launch
  • • hostname [default: 192.168.0.1]
    • udp_receiver_ip [default: ]
    • nodename [default: multiScan]
    • publish_frame_id [default: world]
    • publish_laserscan_segment_topic [default: scan_segment]
    • publish_laserscan_fullframe_topic [default: scan_fullframe]
    • imu_topic [default: imu]
    • udp_port [default: 2115]
    • imu_udp_port [default: 7503]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • laserscan_layer_filter [default: 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0]
    • scandataformat [default: 2]
    • host_LFPangleRangeFilter [default: 0 -180.0 +179.0 -90.0 +90.0 1]
    • host_set_LFPangleRangeFilter [default: False]
    • host_LFPlayerFilter [default: 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]
    • host_set_LFPlayerFilter [default: False]
    • host_LFPintervalFilter [default: 0 1]
    • host_set_LFPintervalFilter [default: False]
    • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
    • tf_publish_rate [default: 10.0]
• launch/sick_multiscan_rtabmap.launch
  • • hostname [default: 192.168.0.1]
    • udp_receiver_ip [default: ]
    • point_cloud_topic [default: /cloud_all_fields_fullframe]
    • imu_topic [default: /multiScan/imu]
    • udp_port [default: 2115]
    • imu_udp_port [default: 7503]
    • point_cloud_frame_id [default: cloud]
    • deskewing [default: true]
    • rtabmap_viz [default: true]
    • host_LFPangleRangeFilter [default: 0 -180.0 +179.0 -90.0 +90.0 1]
    • host_set_LFPangleRangeFilter [default: False]
    • host_LFPlayerFilter [default: 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]
    • host_set_LFPlayerFilter [default: False]
    • host_LFPintervalFilter [default: 0 1]
    • host_set_LFPintervalFilter [default: False]
    • wait_for_transform [default: 0.01]
    • point_cloud_topic_desk [default: $(arg point_cloud_topic)/deskewed]
    • point_cloud_topic_desk [default: $(arg point_cloud_topic)]
• launch/sick_nav_2xx.launch
  • Using node option required="true" will close roslaunch after node exits
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • nodename [default: sick_nav_2xx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_nav_31x.launch
  • LAUNCH FILE FOR NAV310
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • scan_cfg_list_entry [default: 1]
    • nodename [default: sick_nav_31x]
    • skip [default: 0]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_nav_350.launch
  • LAUNCH FILE FOR NAV350
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • nav_do_initial_mapping [default: false]
    • nav_set_landmark_layout_by_imk_file [default: ]
    • tf_publish_rate [default: 10.0]
• 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_oem_15xx.launch
  • LAUNCH FILE FOR NAV310
  • • hostname [default: 192.168.0.1]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: True]
    • skip [default: 0]
    • nodename [default: sick_oem_15xx]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_picoscan.launch
  • • hostname [default: 192.168.0.1]
    • udp_receiver_ip [default: ]
    • nodename [default: sick_picoscan]
    • publish_frame_id [default: world]
    • publish_laserscan_segment_topic [default: scan_segment]
    • publish_laserscan_fullframe_topic [default: scan_fullframe]
    • imu_topic [default: imu]
    • udp_port [default: 2115]
    • imu_udp_port [default: 7503]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • scandataformat [default: 2]
    • performanceprofilenumber [default: -1]
    • all_segments_min_deg [default: -138.0]
    • all_segments_max_deg [default: +138.0]
    • host_FREchoFilter [default: 2]
    • host_LFPangleRangeFilter [default: 0 -138.0 +138.0 -90.0 +90.0 1]
    • host_set_LFPangleRangeFilter [default: False]
    • host_LFPintervalFilter [default: 0 1]
    • host_set_LFPintervalFilter [default: False]
    • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
    • tf_publish_rate [default: 10.0]
• launch/sick_picoscan_120.launch
  • • hostname [default: 192.168.0.1]
    • udp_receiver_ip [default: ]
    • nodename [default: sick_picoscan]
    • publish_frame_id [default: world]
    • publish_laserscan_segment_topic [default: scan_segment]
    • publish_laserscan_fullframe_topic [default: scan_fullframe]
    • udp_port [default: 2115]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • scandataformat [default: 2]
    • all_segments_min_deg [default: -138.0]
    • all_segments_max_deg [default: +138.0]
    • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
    • tf_publish_rate [default: 10.0]
• launch/sick_picoscan_single_echo.launch
  • • hostname [default: 192.168.0.1]
    • udp_receiver_ip [default: ]
    • nodename [default: sick_picoscan]
    • publish_frame_id [default: world]
    • publish_laserscan_segment_topic [default: scan_segment]
    • publish_laserscan_fullframe_topic [default: scan_fullframe]
    • imu_topic [default: imu]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • scandataformat [default: 2]
    • performanceprofilenumber [default: -1]
    • all_segments_min_deg [default: -138.0]
    • all_segments_max_deg [default: +138.0]
    • host_FREchoFilter [default: 0]
    • host_LFPangleRangeFilter [default: 0 -138.0 +138.0 -90.0 +90.0 1]
    • host_set_LFPangleRangeFilter [default: False]
    • host_LFPintervalFilter [default: 0 1]
    • host_set_LFPintervalFilter [default: False]
    • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
    • tf_publish_rate [default: 10.0]
• launch/sick_rms_xxxx.launch
  • LAUNCH-FILE for RMSxxxx radar devices (RMS-1xxx, RMS-2xxx)
  • • hostname [default: 192.168.0.1]
    • nodename [default: sick_rms_xxxx]
    • cloud_topic [default: cloud]
    • frame_id [default: radar]
    • activate_lidoutputstate [default: true]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • topic_cloud_radar_rawtarget [default: /cloud_radar_rawtarget]
    • topic_cloud_radar_track [default: /cloud_radar_track]
    • topic_radar [default: /radar]
• 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]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • nodename [default: sick_tim_240]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• 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]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • nodename [default: sick_tim_443]
    • port [default: 2112]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• 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]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • nodename [default: sick_tim_5xx]
    • port [default: 2112]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• 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]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
• 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]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
• 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]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
• launch/sick_tim_7xx.launch
  • ********************************************** Launch File for TIM 7xx 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 your scanner is not found after roslaunch.
  • • nodename [default: sick_tim_7xx]
    • hostname [default: 192.168.0.1]
    • port [default: 2112]
    • cloud_topic [default: cloud]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • tf_publish_rate [default: 10.0]
• launch/sick_tim_7xxS.launch
  • ********************************************** Launch File for TIM 7xx 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]
    • laserscan_topic [default: scan]
    • frame_id [default: cloud]
    • sw_pll_only_publish [default: true]
    • nodename [default: sick_tim_7xxS]
    • port [default: 2112]
    • skip [default: 0]
    • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
    • add_transform_check_dynamic_updates [default: false]
    • initialize_scanner [default: 1]
    • tf_publish_rate [default: 10.0]
• 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_xd)/launch/rviz/hector.rviz]
• launch/test_006_radar_emul_vis.launch
  • LAUNCH-FILE for Radar device emulation and visualisation
  • • rviz [default: true]
    • rviz_file [default: $(find sick_scan_xd)/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
• launch/test_200_slam_ros1_hector.launch
  • • scan_topic [default: scan]
    • scan_layer_0_frame_id [default: cloud_POS_000_DIST1]
    • cloud_frame_id [default: cloud]
    • base_frame [default: base_link]
    • odom_frame [default: base_link]
    • tf_map_scanmatch_transform_frame_name [default: /scanmatcher_frame]
    • pub_map_odom_transform [default: true]
    • scan_subscriber_queue_size [default: 5]
    • map_size [default: 2048]
• test/emulator/launch/emulator_01_default.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json,$(find sick_scan_xd)/test/emulator/scandata/20210113_tim871s_elephant_full.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
    • start_scandata_immediately [default: false]
• test/emulator/launch/emulator_01_twin.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json,$(find sick_scan_xd)/test/emulator/scandata/20210113_tim871s_elephant_full.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
    • start_scandata_immediately [default: false]
• test/emulator/launch/emulator_02_toggle_fieldsets.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/fieldset_trial_0001.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
    • start_scandata_immediately [default: false]
• test/emulator/launch/emulator_03_2nd_fieldset.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/lidinputstate_fieldset_01.json,$(find sick_scan_xd)/test/emulator/scandata/20210125-tim781s-scandata.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
    • start_scandata_immediately [default: false]
• test/emulator/launch/emulator_04_fieldset_test.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
    • start_scandata_immediately [default: false]
• test/emulator/launch/emulator_lms111.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20220802_lms111.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
• test/emulator/launch/emulator_lms1xx.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20210302_lms111.pcapng_full.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
• test/emulator/launch/emulator_lms1xxx-150hz-0.75deg.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20221110-LMS1xxx-150hz-0.75deg.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
• test/emulator/launch/emulator_lms1xxx-37.5hz-0.1875deg.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20221110-LMS1xxx-37.5hz-0.1875deg.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
• test/emulator/launch/emulator_lms1xxx-75hz-0.375deg.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20221110-LMS1xxx-75hz-0.375deg.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
• test/emulator/launch/emulator_lms5xx.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20210301_lms511.pcapng_full.json,$(find sick_scan_xd)/test/emulator/scandata/20210302_lms511.pcapng_full.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
• test/emulator/launch/emulator_mrs1104.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20210722_143600_ros2_mrs1104_sick_scan_xd.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
• test/emulator/launch/emulator_mrs1xxx_imu.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20211201_MRS_1xxx_IMU_with_movement.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ,sSN InertialMeasurementUnit ]
• test/emulator/launch/emulator_mrs6124.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20220727_mrs6124.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ]
• test/emulator/launch/emulator_rms1xxx.launch
  • • scandatafiles [default: $(find sick_scan_xd)/scandata/20220316-rms1000-binary.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LMDradardata ]
• test/emulator/launch/emulator_tim240.launch
  • • scandatafiles [default: $(find sick_scan_xd)/test/emulator/scandata/20230510_tim240.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ]
• test/emulator/launch/emulator_tim781_lidinputstate.launch
  • • scandatafiles [default: $(find sick_scan_xd)/scandata/20241010-tim781-lidinputstate-toggle-1-9.pcapng.json]
    • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
    • start_scandata_immediately [default: false]
• tools/test_server/config/test_server_cola.launch
  • Launch File for cola test server
• tools/test_server/config/test_server_ldmrs.launch
  • Launch File for LDMRS test server

• msg/Encoder.msg
• msg/ImuExtended.msg
• msg/LFErecFieldMsg.msg
• msg/LFErecMsg.msg
• msg/LIDinputstateMsg.msg
• msg/LIDoutputstateMsg.msg
• msg/NAVLandmarkData.msg
• msg/NAVOdomVelocity.msg
• msg/NAVPoseData.msg
• msg/NAVReflectorData.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
• msg/ldmrs/SickLdmrsObject.msg
• msg/ldmrs/SickLdmrsObjectArray.msg
• msg/ros2/RadarObject.msg
• msg/ros2/ldmrs/SickLdmrsObject.msg
• msg/ros2/ldmrs/SickLdmrsObjectArray.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

• srv/ColaMsgSrv.srv
• srv/ECRChangeArrSrv.srv
• srv/FieldSetReadSrv.srv
• srv/FieldSetWriteSrv.srv
• srv/GetContaminationDataSrv.srv
• srv/GetContaminationResultSrv.srv
• srv/LIDoutputstateSrv.srv
• srv/SCdevicestateSrv.srv
• srv/SCrebootSrv.srv
• srv/SCsoftresetSrv.srv
• srv/SickScanExitSrv.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

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