How to connect Sick s300 Expert to PC for ROS

asked 2019-08-20 10:16:27 -0500

ermanas
46 ●4 ●8 ●11

updated 2019-08-21 02:06:24 -0500

OS: Ubuntu 16.04 LTS with 4.15.0-52-generic kernel
- ROS version: Kinetic
- ROS Package: cob_sick_s300
- Device: Sick s300 Expert Safety Laser Scanner (S30B-3011GB)
- Cable: DSL-8U04G02M025KM1 (RS232 to USB)
- Pinout of Device: Click Here To See Pins

Hello. Now, I need to receive scan data from Sick s300 Expert for Navigation&SLAM. But I don't know how I'll connect it to the PC. I've tried with the configuration cable but It didn't work with cob_sick_s300. It supports RS422 interface, should I try with a RS422 to USB converter? It also has a EFI(Enhanced Function Interface). Datasheets says that I can use it as an Ethernet interface but I don't know how I can do it.

I checked This Link. @Bernhard says on the comments: "It is able to do the same as the codai_sick_s300 just for the programming interface per rs232" But codai_sick_s300 is not available right now and what is the thing that we can read the data through the RS232 to USB cable

Note: I was using Hokuyo UAM-05LP with using Ethernet. It worked with urg_node, for Hokuyo the USB interface was not working for data acqusition, the USB interface was just for configuration with it's own program. Only the Ethernet interface was working with ROS. I guess I can not use urg_node for Sick scanners because of the SCIP protocol.

Edit: I corrected a mistake: changed cob_sick_s300 to codai_sick_s300

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Comments

1

You're better off contacting SICK directly, this is more general connection issue than a ROS issue.

PeteBlackerThe3rd ( 2019-08-20 10:27:03 -0500 )edit

Thanks and I see, sure I'll do it as well but I also wanted to ask people how do they connect their sick scanners.

ermanas ( 2019-08-21 00:40:47 -0500 )edit

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answered 2019-08-26 09:07:59 -0500

ermanas
46 ●4 ●8 ●11

Contributors: @PeteBlackerThe3rd , @mgruhler

I wrote an email to Sick and I asked for the connections with ROS. They said s300 doesn't have ROS support from Sick. But if you want to use the raw data with ROS:

You CAN only use the RS422 output with a proper converter (Isolated Converter - CircuitBoard Converter)
You CAN'T use the configuration port with using the RS232 to USB cable. This is just for configuration.
You CAN'T use the EFI interface to acquire raw data. This is only for Flexi Soft Controllers.

Sick has an official ROS package named sick_safetyscanners for microscan3 series safety laser scanners.

After I tried the s300 with the converter, I'll update the answer.

Thank you,

Ermanas.

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Comments

2

completely correct. Probably should have stated that more clearly.

Note that the data output via RS422 is NOT "safe". This is what the EFI is for. But for the typical use case of navigation this is not an issue.

mgruhler ( 2019-08-27 00:53:55 -0500 )edit

Hi @ermanas , i have the same problem as you. may I know you try with which package?

cowboygary ( 2019-09-16 20:02:30 -0500 )edit

I will use the cob_sick_s300 If I can get the converter. Now I'm working with Hokuyo UAM-05LP with using urg_node and Pepperl Fuchs r2000-HD with using pepperl_fuchs_r2000

ermanas ( 2019-09-18 00:20:56 -0500 )edit

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answered 2019-08-21 01:08:24 -0500

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

@ermanas

You need a Serial-to-USB Converter that works well with Ubuntu and supports RS422. There are quite a few available. I personally have good experience with the VSCom USB-2COM-PRO.

Then, you need to connect the RS422 serial pins of the scanner (i.e. Pins 11, 12, 23, 24) to the respective pins of the converter. (Note: this is serial, so Rx=Receive goes to Tx=Transmit!)

Lastly, the driver: I have no clue what you mean with