Sick_Safetyscanners ROS2 Driver

A ROS2 Driver which reads the raw data from the SICK Safety Scanners and publishes the data as a laser_scan msg.

The ROS1 Driver can be found here: https://github.com/SICKAG/sick_safetyscanners

Table of contents

• Supported Hardware
• Getting started
• ROS API
• Creators

Supported Hardware

Supported are all microScan3, nanoScan3 and outdoorScan3 variants with Ethernet connection.

Getting started

In the future the ROS2 driver will be released as a debian package, currently only build from source is supported.

Prerequisites

• Linux
• Working ROS-Distro
• Correctly setup SICK Safety Scanner
• Connected SICK Safety Scanner and a correctly setup ethernet network. Both the host and the sensor have to be in the same network.

Installation

Dependencies

Dependencies can be installed via

sudo apt-get install ros-<rosdistro>-sick-safetyscanners2-interfaces
sudo apt-get install ros-<rosdistro>-sick-safetyscanners-base

The sources can be found here:

• sick_safetyscanners_base (https://github.com/SICKAG/sick_safetyscanners_base)
• sick_safetyscanners2_interfaces (https://github.com/SICKAG/sick_safetyscanners2_interfaces)

From Source

source /opt/ros/<rosdistro>/setup.bash
mkdir -p ~/colcon_ws/src/
cd ~/colcon_ws/src/
git clone https://github.com/SICKAG/sick_safetyscanners2.git
cd ..
colcon build --symlink-install
source ~/colcon_ws/install/setup.sh

Starting

Classic Node

To start the driver the launch file has to be started. For the driver to work correctly, the sensor ip and host ip have to be defined. These parameters can be passed to the sensor as arguments via launch file.

ros2 launch sick_safetyscanners2 sick_safetyscanners2_launch.py

This will start the driver with the in launch file defined parameters.

Lifecycle Node

To start the driver within a lifecycle the launch file has to be started. For the driver to work correctly, the sensor ip and host ip have to be defined. These parameters can be passed to the sensor as arguments via launch file.

ros2 launch sick_safetyscanners2 sick_safetyscanners2_lifecycle_launch.py

This will start the driver with the in launch file defined parameters.

To configure and activate the lifecycle node the following commands have to be issued:

// Configure
ros2 lifecycle set /sick_safetyscanners2_lifecycle_node configure

//Activate
ros2 lifecycle set /sick_safetyscanners2_lifecycle_node activate

Visualization

To visualize the data start rviz2 and subscribe to the ~/scan topic. By default the frame_id is “scan” however this can be customized in the launch file

rviz2

File truncated at 100 lines see the full file