Anyone who has ever used SICK LMS200-style sensor??

asked 2019-09-21 22:45:28 -0500

kane_choigo gravatar image

Hello! I'm working on ROS kinetic on Ubuntu 16.04.

I just want to know what's the name of raw laser-scanned topic SICK LMS200-style sensor publishes.

For example, in the case of Hokuyo 2D-Lidar sensor, it publishes laser topic name of '/scan'.

Is the name of laser scan topic JUST 'laser' ??

In fact, I've never used any other 2D Lidar sensors except Hokuyo lidar sensor.

Thanks in advance. :)

edit retag flag offensive close merge delete


Which ROS driver are you using? It is possible that your driver publishes laser but you can remap it id you wish. A quick rostopic echo will tell you if it publishes some data.

rreignier gravatar image rreignier  ( 2019-09-23 02:05:54 -0500 )edit

I'm using [urg_node] ( Hokuyo 2D Lidar sensor.It publishes [/scan] topic type of sensor_msgs/LaserScan.In fact, the laser scanned topic is subscribed in namespace of /spencer/perception_internal/people_detection/laser_front so, is it bettet to change from "scan" to "/spencer/perception_internal/people_detection/laser_front /laser " in urg_node.cpp ? (I run urg_node by rosrun not roslaunch.)

kane_choigo gravatar image kane_choigo  ( 2019-09-23 07:08:27 -0500 )edit

No, do not change the source code to rename a topic. To remap a topic: rosrun urg_node urg_node /scan:=/spencer/perception_internal/people_detection/laser_front. See here:

rreignier gravatar image rreignier  ( 2019-09-23 10:53:30 -0500 )edit

Have you tried rostopic list? What does it say. That along with rostopic echo should help.

kscottz gravatar image kscottz  ( 2019-09-23 13:27:25 -0500 )edit