NOTE: This repository is end-of-life and no longer maintained. The most current fork of this repo is here: https://github.com/SICKAG/sick_scan_xd

sick_tim

For documentation, please see sick_tim at the ROS wiki.

Setting up udev rules

Note: The following steps are only required when installing the package from source. When installing a binary debian package of sick_tim >= 0.0.14, the udev rules are set up automatically. Also, this is only required if connecting to the scanner via USB.

To give all members of the plugdev group write access to the Sick TiM devices, run the following commands from the root of the sick_tim repository:

sudo cp debian/udev /etc/udev/rules.d/81-sick-tim3xx.rules
sudo udevadm control --reload-rules

Make sure that your current user is a member of the plugdev group by running groups. If not, add the user to the group and login again.

Now unplug your USB cable and plug it in again. This will allow you to communicate with the laser scanner without running the node as root and fix the following error:

LIBUSB - Cannot open device (permission denied?); please read sick_tim/README.md

Travis - Continuous Integration

Indigo

ROS Buildfarm

	binary deb	source deb	devel	doc
indigo
kinetic
lunar
melodic

Changelog for package sick_tim

0.0.18 (2023-05-02)

• Add Dockerfile-noetic
• Fix Dockerfile-kinetic
• README: Change http -> https
• Update Dockerfiles to new ros:*-ros-core images
• Set cmake_policy CMP0048 to fix warning
• Contributors: Martin Günther

0.0.17 (2020-05-25)

• Switch to non-deprecated node in launch files The state_publisher node is deprecated in Kinetic and was removed in Noetic.
• Avoid compilation warning in libusb on noetic
• Contributors: Martin Günther

0.0.16 (2019-05-06)

• travis CI: Switch to Docker
• Avoid runtime error if ROS time is 0 See #76
• Contributors: Martin Günther

0.0.15 (2019-03-04)

• Add libusb-1.0-dev to build_export_depend (#75)
• Contributors: Alex Moriarty

0.0.14 (2019-01-09)

• Install udev rules during binary package installation
• TiM551/TiM571: Fix HEADER_FIELDS calculation when device name is not set Fixes #72.
• sick_mrs1000: Fix missing cloud time stamp (#69) Fixes #68.
• Contributors: Martin Günther

0.0.13 (2018-05-25)

• First release into melodic
• Fix mrs1000 frame_id parameter (#61) If frame_id parameter was defined to something other than "laser", the node would not publish the /scan topic and the /cloud header.frame_id would always be "laser" even if a different one was defined. This fixes both issues.
• Add min/max angle and range parameters to URDF macros (#60)
• catkin test-flag around [roslaunch_add_file_check]{.title-ref} (#59) Eval [CATKIN_ENABLE_TESTING]{.title-ref} prior to call [roslaunch_add_file_check]{.title-ref} to ensure the function is defined.
• Contributors: Jacob Perron, Jeremie Deray, Patrick Hussey

0.0.12 (2018-01-31)

• Fix memory leak (#56) s should be deleted before returning.
• mrs1000: Make output REP-117 compliant (invalid = +inf) This is a port of e964fb4c to the MRS-1000.
• sick mrs1000 driver (#55) This commit adds SICK MRS-1000 support. The initialization of the device has to be different, due to that I have made the methods for initialization virtual and now the mrs1000 driver runs different init code. Also the support for PointCloud2 is new.
• Contributors: Sebastian Pütz, Jochen Sprickerhof, Martin Günther

0.0.11 (2017-12-21)

• Make output REP-117 compliant (#54) The laser scan topic now encodes invalid measurements as +inf instead of 0. This makes costmap2d treat all invalid measurements as out of range measurements and correctly clearing obstacles even when there is no valid measurement behind. This can lead to some obstacles being incorrectly cleared (when the "0" returne by the SICK TiM actually means "invalid measurement" or "too close to measure" instead of "out of range"), but this happens much less frequently in practice than the problem of non-cleared obstacles.
• .travis.yml: Add fix for travis-ci/travis-ci#8048
• Contributors: Martin Günther

0.0.10 (2017-01-07)

• Automatically reboot scanner if it reports an error code. (#44)
• Update strtok logic. Fixes #42 (#43)
• Contributors: Derek King, Jochen Sprickerhof, Martin Guenther

0.0.9 (2016-09-09)

• timestamp diagnostics must take into account time_offset (#41)
• Choose one of multiple connected scanners
• Contributors: Christian Reinhard, procopiostein

0.0.8 (2016-04-25)

• First release into kinetic
• Remove dependency on driver_base The driver_base package is end-of-life, and we only needed it because of one enum.
• Contributors: Martin Guenther

0.0.7 (2016-04-15)

• Check for firmware versions without range output Closes #36 .
• Use intensity param in TiM 551/571 parser Also print a warning when the intensity param is set, but RSSI is not enabled on the scanner. See #32.
• Other minor changes
• Contributors: Martin Günther

0.0.6 (2015-11-13)

• First release into Jade
• Create sick_tim571_2050001.launch This launch file can be used directly to connect to TIM571 devices. See #28.
• Contributors: Martin Günther, sacuar

0.0.5 (2015-05-06)

• Auto retry USB and TCP connections due to any reason; see #25
• Parameterized TCP timeout
• Contributors: Chad Rockey, Martin Günther, Jochen Sprickerhof, Jeff Schmidt

0.0.4 (2015-03-16)

• Tim561: Make sick_tim551 node work with TiM561.
  • The TiM561 has a angular resolution of 0.33°, which leads to 811 points per scan.
  • Add warning if time_increment is inconsistent. This happens on the TiM561, which reports an incorrect measurement frequency.
  • Add ros params to override a few values, including time_increment (#24 ).
• All scanners: Split datagrams up before handing them to parse_datagram. This finally fixes the warning on datagrams of invalid length each time multiple datagrams are read. (#21)
• All scanners: add subscribing to datagram topic. If subscribe_datagram is set, all nodes will now process the datagrams published on the datagram topic instead of reading from the physical device. Useful for debugging.
• Contributors: Jochen Sprickerhof, Martin Günther, Michael Ferguson, Michael Görner

0.0.3 (2015-01-09)

• Merge pull request #20 from jspricke/fix_19 Fixes for #19
• Increase get_datagram timout to 1 second, Closes: #19
• Add ROS param for TCP port (defaults to 2112)
• fix dependencies in CMakeLists All non-catkin things that we expose in our headers should be added to the DEPENDS, so that packages which depend on our package will also automatically link against it. Also see: http://answers.ros.org/question/58498/what-is-the-purpose-of-catkin_depends/%60#58593 <<https://github.com/uos/sick_tim/issues/58593>>`_
• Contributors: Jochen Sprickerhof, Martin Günther

0.0.2 (2014-09-01)

• Merge pull request #15 from v4hn/libusb-pkgconfig use libusb's pkgconfig support
• Merge pull request #16 from v4hn/hydro_catkin_fixup fixup hydro catkinize
• mark libsick_tim_3xx as exported
• export headers related to libsick_tim3xx As far as I know nobody uses them right now, but as we install the library, why not provide the interface?
• install meshes & urdf
• add missing external dependencies make sure msg headers are built before sick_tim_3xx
• use libusb's pkgconfig support This streamlines sick_tim's libusb detection.
• updated URDF: restructuring, add TiM 511
• renamed sick_tim.stl
• added mesh for tim551
• completed rename: sick_tim3xx -> sick_tim perl -e 's/sick_tim3xx/sick_tim/g' -pi $(git ls-files) perl -e 's/SickTim3xx/SickTim/g' -pi $(git ls-files) rename 's/sick_tim3xx/sick_tim/g' $(git ls-files) rename 's/SickTim3xx/SickTim/g' $(git ls-files)
• Rename sick_tim3xx -> sick_tim
• Merge pull request #13 from MadEgg/hydro_improved_tim551 Hydro improved tim551
• Modified SICK TIM551 parser to accept reduced scanning range and to read out and publish intensity data. Also fixes breaking when a device name has been set. Replace hacky bare socket handling with proper boost::asio socket handling in sick_tim3xx_common_tcp.cpp. Introduces dependency on boost::asio 1.46 Fully functional and tested on tim551.
• omit libusb-1.0 prefix automatically configured by CMake
• sick_tim551 launch: add example snippet for enabling TCP
• CMakeLists: rename libsick -> libsick_tim_3xx libsick.so was too generic and may cause name conflicts later on
• package.xml: fix incorrect build_depend + run_depend build_depend and run_depend can only use either the name of a ros package, or something listed in [rosdep db]{.title-ref}.
• CMakeLists: add missing catkin_depends, fix depends
• CMakeLists: don't export include dir / libary The previous configuration was incorrect: we exported an include path that we didn't install. One way to fix this would have been to install the headers, but since we don't expect any package outside of sick_tim3xx to be using our library, it's better not to install it at all.
• Merge pull request #12 from efernandez/hydro_catkin sets dependencies and linking in the library
• sets dependencies and linking in the library
• Merge pull request #11 from efernandez/hydro_catkin renames libsick to sick, so we have libsick.so
• renames libsick to sick, so we have libsick.so
• package.xml: update email addresses, remove .gitignore
• catkinizes sick_tim3xx
• updated manifest.xml closes #8
• common_usb: increase USB_TIMEOUT from 500 to 1000 ms This is necessary to make the tim310 work. It (strangely) only publishes with 1.875 Hz = one message every 533 ms, so a timeout of 500 ms always caused a LIBUSB_ERROR_TIMEOUT. This closes #7.
• fix node name in launch files
• urdf: removed box_inertial_with_origin xacro macro this conflicted with a new macro of the same name in uos_common_urdf/common.xacro
• fixed warning message
• add select() calls before reading in TCP mode. Now diagnostics won't go stale when the device is unplugged but report missing data errors correctly. The driver reconnects when the cable is plugged again.
• adjusted parameters from real scanner
• Added diagnostics support.
• ~hostname determines if TCP or USB is used. Also removed sick_tim3xx_common_tcp from Tim3xx binaries.
• add TCP connection
• prepare option for TCP on sick_tim551_2050001
• split sick_tim3xx_common into common and usb specific stuff
• merged fix from diamondback branch
• updated stack.xml
• add driver for SICK TiM551
• include -> xacro:include
• Don't publish message if there was a parsing error
• more verbose warning when using wrong node
• add launch files for new nodes
• new node sick_tim310_1130000m01 (experimental)
• new node sick_tim310 (experimental)
• renamed sick_tim3xx node to sick_tim310s01
• add test node: sick_tim3xx_datagram_test
• refactoring: split parse_datagram() into own class
• refactoring: split out common code into sick_tim3xx_common
• refactoring: extract function parse_datagram()
• when receiving more fields than expected, print number of fields
• add optional datagram publishing (for debug)
• check return code of init_usb(), exit on failure
• Change udev rule from MODE to GROUP User needs to be a member of the plugdev group! New udev releases contain a 91-permissions.rules which overwrites the MODE="0666". An other workaround would be to move the 81-sick-tim3xx.rules after the 91-permissions.rules. This patch implements a proper fix, which is to use the plugdev group instead.
• update URDF to be compatible with Gazebo 1.5 In the ros-groovy-simulator-gazebo update to 1.7.12, Gazebo was switched over to 1.5, which breaks compatibility with old-style URDFs. This commit updates to the new version.
• modified rosdep dependency for compatibility with fuerte
• updated .gitignore
• fix max_angle calculation
• add support for dynamic_reconfigure parameters
• don't dump scans to rosout on error usually, this happens when we're lagging behind due to a different error; printing the stuff to rosout slows down the whole process enough so we never catch up.
• changed default laser_frame to "laser", made xacro macro
• adjust time stamp
  • last scan point = now ==> first scan point = now - 271 * time increment

  - also just assume 0.001 s USB latency between scanner and PC for now this avoids TF ExtrapolationExceptions (cannot project into future)

• fixed frame name in gazebo URDF
• URDF: renamed changed box_inertial ... because it doesn't play well with our other URDFs in kurt_description
• URDF: introduced xacro properties for constants
• add launch file
• add URDF file and mesh for scanner
• shift angle_min and angle_max by -PI/2 now angle_min = -135° and angle_max = +135°
• turned everything into a class reason: this allows us to call all the cleanup code from the destructor, so we can make sure it's called every time we exit
• properly exit on error, improved logging
• change default frame name to fully qualified /laser_link
• fix illegal write detected by valgrind
• updated udev README
• working implementation
• copy SICK example code, start conversion to ROS
• description in manifest
• add includes, rosdep dependency on libusb
• add BSD license header
• add udev rules
• add code skeleton for node
• add roscpp dependency
• initial commit
• Contributors: Christian Dornhege, Egbert van der Wal, Jochen Sprickerhof, Martin Günther, Michael Görner, enriquefernandez, v4hn