sick_scan_xd package from sick_scan_xd repo

sick_scan_xd

Package Summary

Tags No category tags.
Version 3.2.0
License Apache License, Version 2.0, see "http://www.apache.org/licenses/LICENSE-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 2024-02-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS 1 and 2 driver for SICK scanner

Additional Links

Maintainers

  • rostest

Authors

  • Michael Lehning
  • Jochen Sprickerhof
  • Martin Günther

sick_scan_xd

This project provides a driver for the SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2). See the CHANGELOG.md for the latest updates.

Table of Contents

Executive Summary

  • sick_scan_xd supports
    • ROS1 (Linux)
    • ROS2 (Linux and Windows)
    • a Driver for generic use (Linux and Windows native)
    • a API for C/C++ or python applications
    • x64 and ARM-64 architecture
  • sick_scan_xd provides a driver for the SICK LiDARs and Radar sensors mentioned here.
  • sick_scan_xd is designed to easily integrate new devices, features and improvements on all targets.
  • sick_scan_xd has no dependencies to 3rd party libraries like boost or pthread.
  • sick_scan_xd offers all features on all targets if the devices support the features.

Build targets

sick_scan_xd can be build on Linux and Windows, with and without ROS, with and without LDMRS. The following table shows the allowed combinations and how to build.

target cmake settings build script
Linux, native, LDMRS BUILD_WITH_LDMRS_SUPPORT ON cd test/scripts && chmod a+x ./*.bash && ./makeall_linux.bash
Linux, native, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test/scripts && chmod a+x ./*.bash && ./makeall_linux_no_ldmrs.bash
Linux, ROS-1, LDMRS BUILD_WITH_LDMRS_SUPPORT ON cd test/scripts && chmod a+x ./*.bash && ./makeall_ros1.bash
Linux, ROS-1, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test/scripts && chmod a+x ./*.bash && ./makeall_ros1_no_ldmrs.bash
Linux, ROS-2, LDMRS BUILD_WITH_LDMRS_SUPPORT ON cd test/scripts && chmod a+x ./*.bash && ./makeall_ros2.bash
Linux, ROS-2, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test/scripts && chmod a+x ./*.bash && ./makeall_ros2_no_ldmrs.bash
Windows, native, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test\scripts && make_win64.cmd
Windows, ROS-2, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test\scripts && make_ros2.cmd

If you're using ROS, set your ROS-environment before running one of these scripts, f.e. * source /opt/ros/noetic/setup.bash for ROS-1 noetic, or * source /opt/ros/melodic/setup.bash for ROS-1 melodic, or * source /opt/ros/eloquent/setup.bash for ROS-2 eloquent, or * source /opt/ros/foxy/setup.bash for ROS-2 foxy.

See the build descriptions for more details: * Build on Linux generic without ROS * Build on Linux ROS1 * Build on Linux ROS2 * Build on Windows * Build on Windows ROS2

Driver API

sick_scan_xd provides a C API, which can be used by any programming language with C-bindings, e.g. in C/C++ or python applications. See sick_scan_api.md for further details.

IMU Support

Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.

Radar support

See radar documentation for RMSxxxx support.

multiScan100 support

See sick_scan_segment_xd for multiScan100 support.

Software PLL

A software pll is used to convert LiDAR timestamps in ticks to the ros system time. See software_pll for further details.

Field Evaluation Information

The LMS1xx, LMS5xx, TiM7xx and TiM7xxS families support extensions for field monitoring. See field_monitoring_extensions for further details.

Run sick_scan_xd driver

See USAGE how to run and configure the sick_scan_xd driver.

Software Overview

An overview over the software and its modules can be found in software_overview.

FAQ

Keywords

MRS1000 MRS1104 LMS1000 LMS1104 MRS6000 MRS6124 RMS1xxx RMS1000 RMSxxxx ROS LiDAR SICK LiDAR SICK Laser SICK Laserscanner SICK Radar LMS1xx MRS1xxx LMS1xxx MRS6xxx TiM5xx TiM551 TiM561 TiM571 TiM781 TiM781S LMS5xx LMS511 NAV210 NAV245 NAV310 LDMRS LRS4000 LD-LRS3600 LD-LRS3601 LD-LRS3611 LD-OEM1500 LD-OEM1501 multiScan100

CHANGELOG

Could not convert RST to MD: pandoc: Cannot decode byte '\x85': Data.Text.Internal.Encoding.decodeUtf8: Invalid UTF-8 stream

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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_03_2nd_fieldset.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan_xd)/scandata/20210125-tim781s-scandata.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_01_twin.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json,$(find sick_scan_xd)/scandata/20210113_tim871s_elephant_full.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_mrs6124.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20220727_mrs6124.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ]
  • test/emulator/launch/emulator_lms1xxx-150hz-0.75deg.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20221110-LMS1xxx-150hz-0.75deg.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_04_fieldset_test.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_tim240.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20230510_tim240.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ]
  • test/emulator/launch/emulator_lms1xxx-37.5hz-0.1875deg.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20221110-LMS1xxx-37.5hz-0.1875deg.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • 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_02_toggle_fieldsets.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/fieldset_trial_0001.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_lms1xx.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20210302_lms111.pcapng_full.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_01_default.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json,$(find sick_scan_xd)/scandata/20210113_tim871s_elephant_full.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)/scandata/20221110-LMS1xxx-75hz-0.375deg.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_lms111.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20220802_lms111.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_mrs1104.launch
      • scandatafiles [default: $(find sick_scan_xd)/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)/scandata/20211201_MRS_1xxx_IMU_with_movement.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ,sSN InertialMeasurementUnit ]
  • tools/test_server/config/test_server_ldmrs.launch
    • Launch File for LDMRS test server
  • tools/test_server/config/test_server_cola.launch
    • Launch File for cola test server
  • 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]
  • launch/test_003_mrs1xxx_tf_show.launch
    • LAUNCH FILE
      • hostname [default: 192.168.0.1]
  • 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/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]
  • launch/test_001_pcl.launch
    • Example launch for testing pointcloud to image converter
  • launch/laser_radar_combo.launch
    • LAUNCH-FILE for lidar radar combo EXPERIMENTAL Only SOPAS-ASCII supported.
  • 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]
      • 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]
      • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
  • 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]
  • 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]
  • 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]
  • 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]
      • 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]
      • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
  • 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/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_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]
  • 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/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]
      • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
      • add_transform_check_dynamic_updates [default: false]
  • launch/test_002_combi_live.launch
    • Example launch for testing live cooperation of radar and laserscanner
      • record_data [default: false]
  • 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]
  • 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]
  • 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: cloud]
      • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
      • add_transform_check_dynamic_updates [default: false]
  • 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]
  • 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/pcl_converter.launch
    • LAUNCH FILE
  • launch/test_002_combi_live_traffic.launch
    • Example launch for testing live cooperation of radar and laserscanner
      • record_data [default: false]
  • launch/test_200_slam_ros1_hector.launch
      • 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]
  • 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]
  • 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/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]
  • launch/sick_mrs_6xxx.launch
    • EXPERIMENTAL - brand new driver
      • hostname [default: 192.168.0.1]
      • cloud_topic [default: cloud]
      • laserscan_topic [default: scan]
      • 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]
  • launch/test_101_pcl.launch
    • Example launch for testing pointcloud to image converter
  • 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]
  • 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]
  • 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]
  • 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_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]
  • 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_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]
  • 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]
  • 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]
  • launch/test_004_mrs1xxx_slam.launch
    • LAUNCH FILE
      • hostname [default: 192.168.0.1]
  • launch/radar_object_marker.launch
    • LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
  • 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_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]
  • 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]
  • 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]
  • 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: ]
  • 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]
  • 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]
  • test/sick_scan_test_lms_5xx.xml
  • test/sick_scan_test_tim_561_ascii.xml
  • test/sick_scan_test_lms_1xxx.xml
  • test/sick_scan_test_tim_571_binary.xml
  • test/sick_scan_test_tim_551_ascii.xml
  • test/sick_scan_test_tim_551_binary.xml
  • test/sick_scan_test_mrs_6xxx.xml
  • test/sick_scan_test_mrs_6xxx_all_echos.xml
  • test/sick_scan_test_lms_1xxx_all_echos.xml
  • test/sick_scan_test_tim_561_binary.xml
  • test/sick_scan_test_lms_1xx.xml
  • test/sick_scan_test_tim_571_ascii.xml
  • test/sick_scan_test_tim_5xx.xml
  • test/sick_scan_test_mrs_1xxx.xml

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sick_scan_xd package from sick_scan_xd repo

sick_scan_xd

Package Summary

Tags No category tags.
Version 3.2.0
License Apache License, Version 2.0, see "http://www.apache.org/licenses/LICENSE-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 2024-02-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS 1 and 2 driver for SICK scanner

Additional Links

Maintainers

  • rostest

Authors

  • Michael Lehning
  • Jochen Sprickerhof
  • Martin Günther

sick_scan_xd

This project provides a driver for the SICK LiDARs and Radar sensors mentioned here. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2). See the CHANGELOG.md for the latest updates.

Table of Contents

Executive Summary

  • sick_scan_xd supports
    • ROS1 (Linux)
    • ROS2 (Linux and Windows)
    • a Driver for generic use (Linux and Windows native)
    • a API for C/C++ or python applications
    • x64 and ARM-64 architecture
  • sick_scan_xd provides a driver for the SICK LiDARs and Radar sensors mentioned here.
  • sick_scan_xd is designed to easily integrate new devices, features and improvements on all targets.
  • sick_scan_xd has no dependencies to 3rd party libraries like boost or pthread.
  • sick_scan_xd offers all features on all targets if the devices support the features.

Build targets

sick_scan_xd can be build on Linux and Windows, with and without ROS, with and without LDMRS. The following table shows the allowed combinations and how to build.

target cmake settings build script
Linux, native, LDMRS BUILD_WITH_LDMRS_SUPPORT ON cd test/scripts && chmod a+x ./*.bash && ./makeall_linux.bash
Linux, native, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test/scripts && chmod a+x ./*.bash && ./makeall_linux_no_ldmrs.bash
Linux, ROS-1, LDMRS BUILD_WITH_LDMRS_SUPPORT ON cd test/scripts && chmod a+x ./*.bash && ./makeall_ros1.bash
Linux, ROS-1, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test/scripts && chmod a+x ./*.bash && ./makeall_ros1_no_ldmrs.bash
Linux, ROS-2, LDMRS BUILD_WITH_LDMRS_SUPPORT ON cd test/scripts && chmod a+x ./*.bash && ./makeall_ros2.bash
Linux, ROS-2, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test/scripts && chmod a+x ./*.bash && ./makeall_ros2_no_ldmrs.bash
Windows, native, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test\scripts && make_win64.cmd
Windows, ROS-2, no LDMRS BUILD_WITH_LDMRS_SUPPORT OFF cd test\scripts && make_ros2.cmd

If you're using ROS, set your ROS-environment before running one of these scripts, f.e. * source /opt/ros/noetic/setup.bash for ROS-1 noetic, or * source /opt/ros/melodic/setup.bash for ROS-1 melodic, or * source /opt/ros/eloquent/setup.bash for ROS-2 eloquent, or * source /opt/ros/foxy/setup.bash for ROS-2 foxy.

See the build descriptions for more details: * Build on Linux generic without ROS * Build on Linux ROS1 * Build on Linux ROS2 * Build on Windows * Build on Windows ROS2

Driver API

sick_scan_xd provides a C API, which can be used by any programming language with C-bindings, e.g. in C/C++ or python applications. See sick_scan_api.md for further details.

IMU Support

Devices of the MRS6xxx and MRS1xxx series are available with an optionally built-in IMU. Further information on the implementation and use of the experimental Imu support can be found on the Imu page.

Radar support

See radar documentation for RMSxxxx support.

multiScan100 support

See sick_scan_segment_xd for multiScan100 support.

Software PLL

A software pll is used to convert LiDAR timestamps in ticks to the ros system time. See software_pll for further details.

Field Evaluation Information

The LMS1xx, LMS5xx, TiM7xx and TiM7xxS families support extensions for field monitoring. See field_monitoring_extensions for further details.

Run sick_scan_xd driver

See USAGE how to run and configure the sick_scan_xd driver.

Software Overview

An overview over the software and its modules can be found in software_overview.

FAQ

Keywords

MRS1000 MRS1104 LMS1000 LMS1104 MRS6000 MRS6124 RMS1xxx RMS1000 RMSxxxx ROS LiDAR SICK LiDAR SICK Laser SICK Laserscanner SICK Radar LMS1xx MRS1xxx LMS1xxx MRS6xxx TiM5xx TiM551 TiM561 TiM571 TiM781 TiM781S LMS5xx LMS511 NAV210 NAV245 NAV310 LDMRS LRS4000 LD-LRS3600 LD-LRS3601 LD-LRS3611 LD-OEM1500 LD-OEM1501 multiScan100

CHANGELOG

Could not convert RST to MD: pandoc: Cannot decode byte '\x85': Data.Text.Internal.Encoding.decodeUtf8: Invalid UTF-8 stream

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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_03_2nd_fieldset.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/lidinputstate_fieldset_01.json,$(find sick_scan_xd)/scandata/20210125-tim781s-scandata.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_01_twin.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json,$(find sick_scan_xd)/scandata/20210113_tim871s_elephant_full.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_mrs6124.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20220727_mrs6124.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ]
  • test/emulator/launch/emulator_lms1xxx-150hz-0.75deg.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20221110-LMS1xxx-150hz-0.75deg.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_04_fieldset_test.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20210126-tim781s-test-fieldsets.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_tim240.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20230510_tim240.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ]
  • test/emulator/launch/emulator_lms1xxx-37.5hz-0.1875deg.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20221110-LMS1xxx-37.5hz-0.1875deg.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • 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_02_toggle_fieldsets.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/fieldset_trial_0001.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_lms1xx.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20210302_lms111.pcapng_full.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_01_default.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json,$(find sick_scan_xd)/scandata/20210113_tim871s_elephant_full.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)/scandata/20221110-LMS1xxx-75hz-0.375deg.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_lms111.launch
      • scandatafiles [default: $(find sick_scan_xd)/scandata/20220802_lms111.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ]
  • test/emulator/launch/emulator_mrs1104.launch
      • scandatafiles [default: $(find sick_scan_xd)/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)/scandata/20211201_MRS_1xxx_IMU_with_movement.pcapng.json]
      • scandatatypes [default: sSN LMDscandata ,sSN LIDinputstate ,sSN LIDoutputstate ,sSN LFErec ,sSN InertialMeasurementUnit ]
  • tools/test_server/config/test_server_ldmrs.launch
    • Launch File for LDMRS test server
  • tools/test_server/config/test_server_cola.launch
    • Launch File for cola test server
  • 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]
  • launch/test_003_mrs1xxx_tf_show.launch
    • LAUNCH FILE
      • hostname [default: 192.168.0.1]
  • 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/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]
  • launch/test_001_pcl.launch
    • Example launch for testing pointcloud to image converter
  • launch/laser_radar_combo.launch
    • LAUNCH-FILE for lidar radar combo EXPERIMENTAL Only SOPAS-ASCII supported.
  • 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]
      • 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]
      • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
  • 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]
  • 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]
  • 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]
  • 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]
      • 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]
      • custom_pointclouds [default: cloud_unstructured_segments cloud_unstructured_fullframe cloud_polar_unstructured_segments cloud_polar_unstructured_fullframe cloud_all_fields_fullframe]
  • 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/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_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]
  • 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/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]
      • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
      • add_transform_check_dynamic_updates [default: false]
  • launch/test_002_combi_live.launch
    • Example launch for testing live cooperation of radar and laserscanner
      • record_data [default: false]
  • 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]
  • 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]
  • 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: cloud]
      • add_transform_xyz_rpy [default: 0,0,0,0,0,0]
      • add_transform_check_dynamic_updates [default: false]
  • 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]
  • 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/pcl_converter.launch
    • LAUNCH FILE
  • launch/test_002_combi_live_traffic.launch
    • Example launch for testing live cooperation of radar and laserscanner
      • record_data [default: false]
  • launch/test_200_slam_ros1_hector.launch
      • 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]
  • 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]
  • 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/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]
  • launch/sick_mrs_6xxx.launch
    • EXPERIMENTAL - brand new driver
      • hostname [default: 192.168.0.1]
      • cloud_topic [default: cloud]
      • laserscan_topic [default: scan]
      • 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]
  • launch/test_101_pcl.launch
    • Example launch for testing pointcloud to image converter
  • 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]
  • 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]
  • 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]
  • 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_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]
  • 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_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]
  • 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]
  • 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]
  • launch/test_004_mrs1xxx_slam.launch
    • LAUNCH FILE
      • hostname [default: 192.168.0.1]
  • launch/radar_object_marker.launch
    • LAUNCH-FILE for RADAR OBJECT MARKER EXPERIMENTAL - brand new driver
  • 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_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]
  • 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]
  • 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]
  • 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: ]
  • 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]
  • 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]
  • test/sick_scan_test_lms_5xx.xml
  • test/sick_scan_test_tim_561_ascii.xml
  • test/sick_scan_test_lms_1xxx.xml
  • test/sick_scan_test_tim_571_binary.xml
  • test/sick_scan_test_tim_551_ascii.xml
  • test/sick_scan_test_tim_551_binary.xml
  • test/sick_scan_test_mrs_6xxx.xml
  • test/sick_scan_test_mrs_6xxx_all_echos.xml
  • test/sick_scan_test_lms_1xxx_all_echos.xml
  • test/sick_scan_test_tim_561_binary.xml
  • test/sick_scan_test_lms_1xx.xml
  • test/sick_scan_test_tim_571_ascii.xml
  • test/sick_scan_test_tim_5xx.xml
  • test/sick_scan_test_mrs_1xxx.xml

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