# sick_scan_xd ROS 2 Driver and tools for SICK LiDAR and RADAR devices     [](LICENSE) [Getting started](#getting-started) · [CHANGELOG](CHANGELOG.rst)

This project provides a driver for SICK LiDARs and Radar sensors listed in the supported SICK devices section. The driver supports ROS 2 for both Linux and Windows.

Main features and characteristics:

• Support of ROS 2 for Linux and Windows
• Generic C/C++ and Python API for usage without ROS (Linux and Windows)
• SLAM support
• Compatible with x64 and ARM64 architecture (incl. Raspberry Pi)
• No dependencies to 3rd party libraries like boost

Table of contents

Repository organization

The repository supports two main branches. The “master” branch is the branch that contains official releases that are tagged and versioned and also included in the ROS distribution. If you want to work with this official branch, you must explicitly specify this branch in the ‘git clone’ command by adding “-b master”. The “develop” branch is the default branch and contains the latest development status.

Checking out the latest revision (usually older than the develop version, but officially released):

git clone -b master https://github.com/SICKAG/sick_scan_xd.git

Checking out the latest development status:

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sick_scan_xd Maintenance and Development Documentation

Executive Summary

This documentation provides background information on maintaining, testing, and extending the sick_scan_xd repository.

Table of Contents

• Adding a new device to the driver
  • Naming convention
  • Launch files
  • Code modification
• Bloom releases
  • First time installation of toolchain
  • Release build for ROS 1
  • Release build for ROS 2
  • Check status
  • Verify ROS 2 Binary Release Status
  • Useful links and information
• Unit tests
• Docker testing
  • Docker on Linux
    • Build and run all sick_scan_xd docker tests on Linux
    • Build and run sick_scan_xd for ROS 1 noetic
      • Build and run with sick_scan_xd from local sources
      • Build and run with sick_scan_xd sources from a git repository
      • Build and run with prebuilt sick_scan_xd binaries
  • Docker on Windows
    • Build and run sick_scan_xd dockertests on Windows
  • Docker configuration
    • Test configuration
    • Configuration of error test cases
    • Data export from docker container
    • Test reports
    • Data preparation
• Simulation
  • Simulation on Linux
  • Simulation on Windows
• Profiling
  • Installation
  • Usage

Adding a new device to the driver

This driver is designed to support several sensor families from SICK. This documentation describes how to add additional devices to the driver.

Naming convention

For each device type a name pattern is assigned as follows: sick_<device family>_<identifier>

The name type is used in the code to decide which lidar-specific parameters are set. The name type is passed as a parameter as follows:

<param name="scanner_type" type="string" value="sick_lms_5xx" />

Launch files

A launch file is created for each device type, which usually has the same naming convention as the lidar type. To create a new device, it is recommended to copy, rename and edit an existing launch file.

Code modification

1. Hint: Construction of parser:

    sick_scan_xd::SickGenericParser *parser = new sick_scan_xd::SickGenericParser(scannerName);
    

1. Add string constant like the constant SICK_SCANNER_RMS_XXXX_NAME

2. Append this constant to allowedScannerNames like allowedScannerNames.push_back(SICK_SCANNER_RMS_XXXX_NAME); in the file sick_generic_parser.cpp

3. Add new parameter block like

	if (basicParams[i].getScannerName().compare(SICK_SCANNER_MRS_1XXX_NAME) == 0)
	{...
	} in the file sick_generic_parser.cpp
	

1. Copy the file sick_generic_radar.cpp and add a new class following the structure of this file.

Bloom releases

Summary of bloom release build:

• Update release repositories for rosdistros humble, jazzy, kilted and lyrical with bloom-release on Linux:

   cd /tmp
   bloom-release --rosdistro humble  -d sick_scan_xd # update release repository https://github.com/ros2-gbp/sick_scan_xd-release.git, argument -d enables debug infos
   bloom-release --rosdistro jazzy   -d sick_scan_xd # update release repository https://github.com/ros2-gbp/sick_scan_xd-release.git, argument -d enables debug infos
   bloom-release --rosdistro kilted  -d sick_scan_xd # update release repository https://github.com/ros2-gbp/sick_scan_xd-release.git, argument -d enables debug infos
   bloom-release --rosdistro lyrical -d sick_scan_xd # update release repository https://github.com/ros2-gbp/sick_scan_xd-release.git, argument -d enables debug infos
   

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