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ROS2 wrapper for the SICK LMS1xx series LIDARs operating at 25Hz.

Home Page: http://www.iscumd.com/

CMake 4.90% C++ 79.80% C 8.44% Python 6.86%

isc_sick's Introduction

ros2_sick

From package 'ros2_sick'

File

/src/ros2_sick.cpp

Summary

This is a Ros2 Driver for the Sick LMS-111 2D LiDAR. With the current iteration it supports IPv4 at a transmission rate of 10/100MBit Currently only supports POSIX operating systems.

Topics

Publishes

  • /scan: laserscans from the LiDAR
  • /points: pointcloud representation of the laserscan returned from the LiDAR

Params

  • host: IP of the LiDAR
  • frame_id: Frame the LiDAR publishes to.
  • port: Port the LiDAR is listening on.
  • tf_correction: Corrects scan angle for the tf frame

Potential Improvements

Lots and Lots of refactoring, allowing serial communication with the LiDAR

Launch

File

./launch/ros2_sick.launch.py

Launches the node with parameters set by a config yaml.

isc_sick's People

Contributors

andyblarblar avatar eejoylim avatar girvenavery2022 avatar isc-robotics avatar jordankra avatar

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