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Sick laser LMS 511 to send data via RVIZ

asked 2019-11-23 00:48:05 -0600

I am a new to ROS. I am using Ubuntu 18.04 with ROS melodic. I want sick laser LMS511 to pass the scan data to RViz (via the /scan topic). can any one help me.

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answered 2019-11-23 19:23:45 -0600

jordan gravatar image

See...

http://wiki.ros.org/sick_scan

Just follow those instructions: they are mostly good. Except binary install did not work for me (at least not for kinetic), so I did a source install and build in 'catkin_ws'. Source is here:

https://github.com/SICKAG/sick_scan

You could use command similar to (or follow what is on the wiki):

sudo git clone --single-branch --branch melodic-devel https://github.com/SICKAG/sick_scan

The ROS driver for SICK uses the frame "cloud". It therefore proved necessary to provide a static transform in order to display it in rviz:

rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map cloud 10

To launch the driver using the default launch file:

roslaunch sick_scan sick_lms_5xx.launch hostname:=10.42.0.10

(Note: I had previously changed the IP address of the lidar using the SiCK provided SOPAS, the default address is: 192.168.0.10, IIRC)

Laser data is published on '/scan'.

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Asked: 2019-11-23 00:48:05 -0600

Seen: 34 times

Last updated: Nov 23 '19