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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/develop/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/develop/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
Recent questions tagged sick_scan_xd at Robotics Stack Exchange
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
Recent questions tagged sick_scan_xd at Robotics Stack Exchange
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/develop/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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
Plugins
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sick_scan_xd package from sick_scan_xd reposick_scan_xd |
ROS Distro
|
Package Summary
Version | 3.8.0 |
License | Apache-2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/SICKAG/sick_scan_xd.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-10-07 |
Dev Status | DEVELOPED |
Released | RELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- rostest
Authors
- Michael Lehning
- Jochen Sprickerhof
- Martin Günther
sick_scan_xd - Driver and tools for SICK LiDAR and RADAR devices
This project provides a driver for SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS 1, ROS 2) and Windows (native and ROS 2). See the CHANGELOG.md for the latest updates.
Main features and characteristics:
- Support of ROS 1 (Linux), ROS 2 (Linux and Windows)
- Generic C/C++ and Python API for usage without ROS (Linux and Windows)
- SLAM support
- Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
- No dependencies to 3rd party libraries like boost
Table of contents
Expand to full table of contents
* [Repository organization](#repository-organization) * [Supported SICK devices](#supported-sick-devices) * [Getting started](#getting-started) * [Starting with a new SICK device](#starting-with-a-new-sick-device) * [Detecting SICK devices in the network](#detecting-sick-devices-in-the-network) * [Change IP address](#change-ip-address) * [Test connection (Linux)](#test-connection-linux) * [Building the driver](#building-the-driver) * [ROS 1 on Linux](#ros-1-on-linux) * [ROS 1: Install prebuilt binaries](#ros-1-install-prebuilt-binaries) * [ROS 1: Build from sources](#ros-1-build-from-sources) * [ROS 2 on Linux](#ros-2-on-linux) * [ROS 2: Install prebuilt binaries](#ros-2-install-prebuilt-binaries) * [ROS 2: Build from sources](#ros-2-build-from-sources) * [ROS 2 on Windows](#ros-2-on-windows) * [Without ROS on Linux](#without-ros-on-linux) * [Without ROS on Windows](#without-ros-on-windows) * [Running the driver](#running-the-driver) * [Starting device with specific IP address](#starting-device-with-specific-ip-address) * [Start multiple devices / nodes](#start-multiple-devices--nodes) * [Parameters](#parameters) * [ROS services](#ros-services) * [ROS 2 example for messages and services](#ros-2-example-for-messages-and-services) * [SOPAS mode](#sopas-mode) * [Example startup sequence](#example-startup-sequence) * [Driver features and additional information](#driver-features-and-additional-information) * [Software overview and structure](#software-overview-and-structure) * [Message handling](#message-handling) * [Driver states and timeouts](#driver-states-and-timeouts) * [sick\_scansegment\_xd](#sick_scansegment_xd) * [Files and folders](#files-and-folders) * [Generic driver API](#generic-driver-api) * [Build and test shared library](#build-and-test-shared-library) * [Build the shared library on Linux](#build-the-shared-library-on-linux) * [Build the shared library on Windows](#build-the-shared-library-on-windows) * [Test the shared library](#test-the-shared-library) * [Usage examples](#usage-examples) * [Minimalistic usage example in C](#minimalistic-usage-example-in-c) * [Minimalistic usage example in C++](#minimalistic-usage-example-in-c-1) * [Minimalistic usage example in Python](#minimalistic-usage-example-in-python) * [Complete usage example in C++](#complete-usage-example-in-c) * [Complete usage example in Python](#complete-usage-example-in-python) * [Diagnostic](#diagnostic) * [Simulation and unit test](#simulation-and-unit-test) * [Timestamps and synchronization (Software PLL)](#timestamps-and-synchronization-software-pll) * [Coordinate transforms](#coordinate-transforms) * [IMU support (LRS4000, MRS6000 and MRS1000)](#imu-support-lrs4000-mrs6000-and-mrs1000) * [Encoder support](#encoder-support) * [Field evaluation information](#field-evaluation-information) * [Visualization with rviz](#visualization-with-rviz) * [Cola commands](#cola-commands) * [Emulation](#emulation) * [Unit tests](#unit-tests) * [Pcapng converter tool](#pcapng-converter-tool) * [Raspberry Pi support](#raspberry-pi-support) * [Performance limitations](#performance-limitations) * [Build without internet or GitHub access](#build-without-internet-or-github-access) * [Docker support](#docker-support) * [Build and run on Linux ROS 1 (short cut)](#build-and-run-on-linux-ros-1-short-cut) * [Build and run from local sources](#build-and-run-from-local-sources) * [Build and run from a git repository](#build-and-run-from-a-git-repository) * [Build and run from prebuilt binaries](#build-and-run-from-prebuilt-binaries) * [Hector SLAM support](#hector-slam-support) * [NAV350 ROS 1 SLAM example](#nav350-ros-1-slam-example) * [NAV350 ROS 2 SLAM example](#nav350-ros-2-slam-example) * [picoScan100 ROS 1 SLAM example](#picoscan100-ros-1-slam-example) * [MRS1000 SLAM support](#mrs1000-slam-support) * [Google cartographer support](#google-cartographer-support) * [OctoMap support](#octomap-support) * [RTAB-Map support](#rtab-map-support) * [Install RTAB-Map on ROS 1](#install-rtab-map-on-ros-1) * [Run RTAB-MAP and multiScan100 on ROS 1](#run-rtab-map-and-multiscan100-on-ros-1) * [Install RTAB-Map on ROS 2](#install-rtab-map-on-ros-2) * [Run RTAB-MAP and multiScan100 on ROS 2](#run-rtab-map-and-multiscan100-on-ros-2) * [More tools](#more-tools) * [Device specific information](#device-specific-information) * [picoScan100/multiScan100](#picoscan100multiscan100) * [Configuration](#configuration) * [SOPAS support for sick\_scan\_segment\_xd](#sopas-support-for-sick_scan_segment_xd) * [Start and stop sequence](#start-and-stop-sequence) * [IMU support](#imu-support) File truncated at 100 lines [see the full file](https://github.com/SICKAG/sick_scan_xd/tree/master/./README.md)Changelog
Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.
Release v3.8.0
- Added Extra frameid for IMU message
- Added ROS2 kilted support
- Changed Fix code block indentation in README
- Changed README: add layer suffixes explanation and general improvements
- Changed Optimized CMakeLists.txt (ROS2 distros as list)
- Fixed Relaxed required field test
- Fixed ASCII parsing for TiM240
Release v3.7.0
- Fixed TiM7xx fieldset settings and services, #394, #408
- Changed README.md and cmake requirements
- change Publish lferec messages latched, #420
- Fixed TCP connection timeout, #424
- Added Support for LRS-4xxx IMU and contamination data, #418
- Changed Improved TiM-7xx field evaluation status after start, #420
- Changed Dockertests for ROS-1, ROS-2 and API
- Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428
- Fixed Disable UDP-Parsing during reinitialisation
- Fixed ParameterAlreadyDeclaredException on reinitialisation
- Added LaserScan messages encode reflector detection through high intensity values
- Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.
Release v3.6.0
- Added Launchfiles and configuration for picoScan120
- Added Optional AngleRangeFilter and IntervalFilter for picoScan
- Fixed Obsolete topic “/sick_multiscan/scan” removed
- Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
- Fixed Customization of hash values for authorization #366
- Fixed Replaced builtin_addressof expressions #370
- Added Different UDP timeouts for state initial and running, improved UDP timeout handling
- Fixed Picoscan range_min value in laserScan message #382
- Added Support for RMS2xxx LIDoutputstate telegrams
- Fixed sick_generic_caller debug assertion #385
- Added Check of udp receiver ip at startup
- Added cmake-option to overwrite optimization level
- change Documentation restructured
- Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
- Added PicoScan parameter add_transform_xyz_rpy #399
- Fixed LMS4000 encoder settings #403
- Fixed CMake-flag for target sick_scan_xd_api_dockertest #404
- change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
Release v3.5.0
- Added Optional switch between “system timestamps” (default) and “tick timestamps”
- Added Extract sick_scan_xd version from package.xml
- Added Add git info to sick_scan_xd version
- Fixed #316 (blocking API-close in case of wrong ip-address)
- Added #321, #310 (optional cmake-flag to set a calling convention for API calls)
- Added Hector SLAM configuration and example for picoScan
- Added Correction angle shift settings for LRS-36x0 and OEM-15xx
- Added Update FAQ (Network settings etc.)
- Added Integration PR #347 (NAV350 landmarks)
- Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
- Added customisations for gcc 13 (Ubuntu 24)
- Added Update for bloom releases ROS-2 iron and jazzy
- Added Configuration multiScan interval filter via launchfile (#352)
- Added SPDX licence text (PR #354)
- Fixed Fix #355 (API launchfile parsing error)
- Added Example configurations for parallel operation multi and picoScan
Release v3.4.0
- Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
- Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
- Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)
- Added generation of TF messages
- Added Option to deactivate initialization sequence for TiM-7xxS devices
- Added Documented option “-b master” to clone the release version
- Fixed #316 API re-init nach close
Release v3.3.0
- Added Option for MRS1xxx azimuth correction table
- Added Support for picoScan100 (single echo w/o addons)
- Added API logging functions and verbosity (#270)
- Added API documentation (multiple lidars not supported, #281)
- change API extended (added topic in PointCloud messages, #271)
Release v3.2.0
- Added IMU support for multiScan and picoScan
- Added support bloom releases for ROS-2 humble
- Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
- Added PR #255, support picoScan performance profiles
- change configuration time flag LMDscandatacfg switched off for the TiM240
- Fixed #218 (API reinit)
- Fixed #220 (Fullframe Laserscan messages multi- and picoScan)
- Fixed #221 (No scandata while activated scan range filter)
- Fixed #222 (rviz visualization of polar pointclouds)
- Fixed #247 (Launchfile option for laserscan topic)
- Fixed #256 (Clean API-exit picoScan and multiScan)
- Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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]
- publish_imu_frame_id [default: sick_imu]
- 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
-
Messages
- 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
Services
- 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