In order to establish a connection of the Laserscanner SICK LMS111 to ROS Kinetic several steps have to be performed.
1.Supply the Sensor and connect it to the ethernet port a system running Windows.
2. Install SICK SOPAS Engineering tool and execute it.
3. Configure the Paramters in the SICK Software SOPAS. That means define a ethernet ip adress and adjust measuring parameters.
4.Install the sick toolbox wrapper:
$ sudo apt-get install
ros-kinetic-lms1xx
- In Ubuntu under Settings configure the wired connection to be different than the IP of the laserscanner. The IP of the laserscanner can be obtained by
$ sudo ifconfig
- Make sure that the connection between ubuntu and the LMS is established in Ubuntu (You can see this in the Network Settings).
$ roscore
- In order to establish a connection to ROS use a new terminal and enter
$ rosrun lms1xx LMS1xx_node _
host:=[IP of the scanner obtained from
sudo ifconfig]
has to be used.
9.When using rviz: the fixed frame in global options has to be set to laser and a LaserScan display has to be added with the topic /scan enabled.
I think the problem is due to permission of the port. Try $ sudo chmod a+rx [port of the LMS] before launching the lms node. It should work. I have had no problems using LMS sensors on ROS kinetic so far.
i messed up the configuration, thanks for your answer, i added a solution path below.