sick_visionary_ros

Overview

This repository contains the ROS drivers for Sick Visionary-T Mini CX (V3S105-1AAAAAA) and Sick Visionary-S CX (V3S102-1AAAAAA and V3S102-1AABAAB).

License

The source code is released under The Unlicense.

Supported environments

The sick_visonary_ros package has been tested under [ROS] Noetic 64bit on Ubuntu 20.04.

Table of Contents

• Supported Hardware
• Getting Started
• Launch Files
• Nodes
• Support

Supported Hardware

Getting Started

Installation

1. First you need a working ROS installation. (ROS wiki) (If you already have a running ROS environment skip to step 2.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' # Setup your sources.list
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - #Set up your keys
sudo apt update #Update your Debian package index
sudo apt install ros-noetic-desktop ros-noetic-pcl-ros ros-noetic-pcl-conversions # install the packages

2. Clone this repository into your catkin workspace. Change <YOUR_WORKSPACE> to your actual workspace name and <REPO_URL> to the url provided by the Clone button.

cd ~/<YOUR_WORKSPACE>/src
git clone <REPO_URL>

After cloning this repository into the src folder of your catkin workspace run these additional git commands to have the correct submodules in place:

git submodule init
git submodule update

Note If you’ve received a distribution archive just extract it into the src folder of your catkin workspace.

Important Ensure the ROS environment is active.

source /opt/ros/noetic/setup.bash

3. Compile and install

cd ~/<YOUR_WORKSPACE> # move to the top level of your catkin workspace
catkin_make # Compile the drivers
catkin_make install # local install
source install/setup.bash # source your workspace on top of your environment

Quick Start

Important Ensure the camera device is connected to your computer.

1. Connect your device via Ethernet to your local PC
2. Connect the device to the power supply and wait until it has booted up

1. Use the launch file to start the node. For the Visionary-T Mini CX run:

roslaunch sick_visionary_ros sick_visionary-t_mini.launch

Note Please use the device specific launch file to start the correct driver variant.

2. Visualize the results in RViz (3D visualization tool for ROS). Open a new terminal and run

rosrun rviz rviz

File truncated at 100 lines see the full file

Changelog for package sick_visionary_ros

1.1.2 (2024-02-06)

• update sick_visionary_cpp_shread to fix CoLa2 session timeout
• bump package.xml version
• fix CMakeLists.txt used wrong PCL LIBRARY variable, fix project version

1.1.1 (2023-12-14)

• fix: bump package.xml version
• add tags to package.xml for ros-index

1.1.0 (2023-12-08)

• add ROS diagnostics feature to check topic publishing frequencies (Contribution by 4am-robotics)
• update README with new parameters and fix relative links
• add new parameters to launch files

1.0.0 (2023-11-16)

• First public release
• Enforce style guide using pre-commit
• simplify project structure
• remove support for discontinued devices

0.2.3 (2022-06-08)

• Auto connect to device if connection is lost

0.2.2 (2020-12-02)

• support for Visionary-T Mini CX (V3S105-1AAAAAA)
• Fix bug for Visionary-S CX (V3S102-1AAAAAA and V3S102-1AABAAB) pointcloud data

0.2.1 (2019-12-23)

• adapted VisionayControl module to control also through CoLa 2 besides CoLa B
• support for control of Visionary-T CX VGA

0.2.0 (2019-11-03)

• support for Visionary-T CX VGA

0.1.1 (2017-12-06)

• increased performance
• support cartesian data e.g. for Visionary-T DT or AG
• support polar data

0.1.0 (2017-09-01)

• rename to visionary
• usage of Visionary_Common library
• support for Visionary-S CX (V3S102-1AAAAAA and V3S102-1AABAAB)