sick_ldmrs_laser

This stack provides a ROS driver for the SICK LD-MRS series of laser scanners. The SICK LD-MRS is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments and also provides object tracking. The driver also works for the identical devices from IBEO.

Supported Hardware

This driver should work with all of the following products. However, it has only been tested and confirmed working on the LD-MRS800001S01 so far. If you try any of the other scanners and run into trouble, please open an issue.

Installation

In the following instructions, replace <rosdistro> with the name of your ROS distro (e.g., indigo).

From binaries

The driver has not been released yet. But once that happens, you can install it directly by typing:

sudo apt-get install ros-<rosdistro>-sick-ldmrs-laser

From source

source /opt/ros/<rosdistro>/setup.bash
mkdir -p ~/ros_catkin_ws/src/
cd ~/ros_catkin_ws/src/
git clone https://github.com/SICKAG/libsick_ldmrs.git
git clone -b <rosdistro> https://github.com/SICKAG/sick_ldmrs_laser.git
cd ..
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
source ~/ros_catkin_ws/install_isolated/setup.bash

Quick Start

roslaunch sick_ldmrs_tools sick_ldmrs_demo.launch
rosrun rviz rviz -d $(rospack find sick_ldmrs_tools)/config/sick_ldmrs.rviz
rosrun rqt_reconfigure rqt_reconfigure
rosrun rqt_robot_monitor rqt_robot_monitor

Package overview

• sick_ldmrs_driver: This package provides the main driver node, sick_ldmrs_node.
• sick_ldmrs_description: This package provides an URDF description of the scanner along with the corresponding mesh.
• sick_ldmrs_msgs: This package provides ROS message definitions for the scanner’s object tracking functionality and a PCL point type used in the PointCloud2 topic.

• sick_ldmrs_tools: This package provides example nodes that demonstrate how to subscribe to the topics provided by the scanner and use the data:

  • sick_ldmrs_filter_first: Filters the point cloud and only output the first echo of each beam.
  • sick_ldmrs_filter_last: Filters the point cloud and only output the last echo of each beam.
  • sick_ldmrs_filter_layer: Filters the point cloud and only output points from the second layer.
  • sick_ldmrs_object_marker: Subscribes to the objects topic and publishes the object tracking information as visualization_msgs/MarkerArray for visualization in RViz.
  • sick_ldmrs_all_layer_assembler: Subscribes to the point cloud, transforms it into a fixed frame and assembles one point clouds of the lower four layers and one of the upper four layers into a point cloud of all eight layers.
  • sick_ldmrs_make_organized: Subscribes to the point cloud and turns it into an organized point cloud.
  • sick_ldmrs_remove_background: Removes static background points from an organized input point cloud, assuming the scanner is stationary.
  • sick_ldmrs_print_resolution: Subscribes to the point cloud and prints the angular resolution sectors. Useful to verify that the FocusedRes / FlexRes features are working as expected.

ROS API

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