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

Changelog for package sicktoolbox_wrapper

2.5.4 (2019-05-04)

• Merge pull request #6 from SantoshBanisetty/kinetic-devel Kinetic-devel and readme
• updated Readme
• Kinetic-devel and readme
• Contributors: b2256, santosh banisetty

2.5.3 (2013-08-21)

• No more Willow Garage email.
• Merge pull request #2 from stwirth/hydro-devel added new parameter time_offset
• added new parameter time_offset
• Contributors: Chad Rockey, Stephan Wirth

2.5.2 (2013-04-25)

• Removed REP 117 Tick/Tock for Hydro.
• Contributors: chadrockey

2.5.1 (2013-03-28)

• Finished catkinizing with install rules.
• Everything builds with catkin. A bit more cleanup is needed.
• Workaround for Groovy build.
• Tock on REP 117. Will now default to True. Warns if not set or false.
• Added a diagnostic publisher.
• Added support for changing measurement units reported by the laser. Resolves ticket 4931.
• Resolving tickets 4138, 4797, 5358. The driver will now wait for lasers according to the connect_delay parameter.
• Updated sicklms to add the use_rep_117 parameter and output the appropriate special values.
• Updated pthread linking for to fix Oneric build issues.
• adding sickld patch
• Minor fixes on previous change to sick_lms from patch in #4290.
• Applied patch from #4290 with a small tweak. Still needs testing before release.
• Added Ubuntu platform tags to manifest
• Modified the recent patch that allows setting of angle and resolution to default to whatever the laser defaults to.
• Applied patch from jksrecko that adds an angle and resolution parameter, and uses them to call set sick variant.
• adding a little standalone ascii logger
• preparing laser_drivers 1.0.0. Updated manifest descriptions slightly
• sicktoolbox_wrapper: doc reviewed
• Added a doxygen main page.
• staging laser_drivers into tick-tock
• Contributors: Brian Gerkey, Chad Rockey, Gassend Blaise, Ken Conley, Melonee Wise, Morgan Quigley, chadrockey