forked from xtdrone/XTDrone
55 lines
1.1 KiB
Markdown
55 lines
1.1 KiB
Markdown
# sicktoolbox_wrapper
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sicktoolbox_wrapper is a ROS wrapper for the outstanding sicktoolbox library for interfacing with the SICK LMS2XX lasers.
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For this package to work on ROS-KINETIC, follow the instructions below:
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1. change the working directory to catkin workspace
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```
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cd ~/catkin_ws/src
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```
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2. Clone the two required repositories
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```
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git clone <git url for sicktoolbox> (https://github.com/SantoshBanisetty/sicktoolbox.git)
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git clone <git url for sicktoolbox_wrapper>
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```
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3. Make the project
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```
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cd ~/catkin_ws
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catkin_make
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```
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4. Make the required connections as shown in datasheet.
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5. Connect the USBtoRS232 and make sure the premissions are set properly.
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```
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ls -l /dev/ttyUSB0
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```
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You will see something similar to:
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```
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crw-rw-XX-
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```
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XX should be rw if not, so the following:
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```
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sudo chmod a+rw /dev/ttyUSB0
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```
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6. Now that the laser is configured properly, run a ros master like
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```
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roscore
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```
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7. Run the node as follows:(make sure you source the workspace)
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```
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rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB0 _baud:=38400
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```
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8. You may use RVIZ to visualize or simply rostopic will suffice to confirm the working
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```
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rosrun rviz rviz
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```
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