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:
- change the working directory to catkin workspace
cd ~/catkin_ws/src
- 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)
- Make the project
cd ~/catkin_ws
catkin_make
-
Make the required connections as shown in datasheet.
-
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
- Now that the laser is configured properly, run a ros master like
roscore
- Run the node as follows:(make sure you source the workspace)
rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB0 _baud:=38400
- You may use RVIZ to visualize or simply rostopic will suffice to confirm the working
rosrun rviz rviz