sicktoolbox_wrapper

sicktoolbox_wrapper is a ROS wrapper for the outstanding sicktoolbox library for interfacing with the SICK LMS2XX lasers.

For this package to work on ROS-KINETIC, follow the instructions below:

1. change the working directory to catkin workspace

cd ~/catkin_ws/src

1. Clone the two required repositories

git clone <git url for sicktoolbox> (https://github.com/SantoshBanisetty/sicktoolbox.git)
git clone <git url for sicktoolbox_wrapper> (https://github.com/ros-drivers/sicktoolbox_wrapper.git)

1. Make the project

cd ~/catkin_ws
catkin_make

1. Make the required connections as shown in datasheet.

2. Connect the USBtoRS232 and make sure the premissions are set properly.

ls -l /dev/ttyUSB0

You will see something similar to:

crw-rw-XX-

XX should be rw if not, so the following:

sudo chmod a+rw /dev/ttyUSB0

1. Now that the laser is configured properly, run a ros master like

roscore

1. Run the node as follows:(make sure you source the workspace)

rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB0 _baud:=38400

1. You may use RVIZ to visualize or simply rostopic will suffice to confirm the working

rosrun rviz rviz