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README.md

sicktoolbox_wrapper

sicktoolbox_wrapper is a ROS wrapper for the outstanding sicktoolbox library for interfacing with the SICK LMS2XX lasers.

For this package to work on ROS-KINETIC, follow the instructions below:

  1. change the working directory to catkin workspace
cd ~/catkin_ws/src
  1. Clone the two required repositories
git clone <git url for sicktoolbox> (https://github.com/SantoshBanisetty/sicktoolbox.git)
git clone <git url for sicktoolbox_wrapper>
  1. Make the project
cd ~/catkin_ws
catkin_make

  1. Make the required connections as shown in datasheet.

  2. Connect the USBtoRS232 and make sure the premissions are set properly.

ls -l /dev/ttyUSB0

You will see something similar to:

crw-rw-XX-

XX should be rw if not, so the following:

sudo chmod a+rw /dev/ttyUSB0
  1. Now that the laser is configured properly, run a ros master like
roscore
  1. Run the node as follows:(make sure you source the workspace)
rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB0 _baud:=38400
  1. You may use RVIZ to visualize or simply rostopic will suffice to confirm the working
rosrun rviz rviz