sick_scan

This stack provides a ROS driver for the SICK lidar sensors mentioned in the following list.

Supported Hardware

This driver should work with all of the following products.

ROS Device Driver for SICK lidar and radar sensors - supported scanner types:

device name	part no.	description	tested?
TiM771S	1105052	1 layer max. range: 25 m, ang. resol. 0.33 [deg]	✔ [stable]

Start Node

Use the following command to start ROS node:

• For TiM771S:

rosrun sick_scan sick_generic_caller __name:=sick_tim_7xxS _hostname:=10.39.46.23 _scanner_type:=sick_tim_7xxS

Common parameters

• scanner_type Name of the used scanner. Usually this is also the name of the launch file. This entry is used to differentiate between the various scanner properties within the software code.

• hostname IP-address of the scanner (default:192.168.0.1)

• port IP-port of the scanner (default:2112)

• min_ang Start angle in [rad] (default:-3.14)

• max_ang End angle in [rad] (default:3.14)

• use_binary_protocol Switch between SOPAS Binary and SOPAS ASCII protocol (default:true)

• intensity Enable or disable transport of intensity values (default:true)

• intensity_resolution_16bit If true, the intensity values is transferred as 16 bit value. If false, as 8 bit value. (default:true)

• min_intensity If min_intensity > 0, all range values in a LaserScan message are set to infinity, if their intensity value is below min_intensity (default:0.0)

• frame_id Frame id used for the published data (default:"laser")

• auto_reboot If true reboot laser if it reports an error, false otherwise (default:true)

• timelimit Timelimit in [sec] for max. wait time of incoming sensor reply (default:5.0)

• Field monitoring: The TiM7xxS families have extended settings for field monitoring.

Sopas Mode

This driver supports both COLA-B (binary) and COLA-A (ASCII) communication with the laser scanner. Binary mode is activated by default. Since this mode generates less network traffic. If the communication mode set in the scanner memory is different from that used by the driver, the scanner's communication mode is changed. This requires a restart of the TCP-IP connection, which can extend the start time by up to 30 seconds. There are two ways to prevent this:

1. [Recommended] Set the communication mode with the SOPAS ET software to binary and save this setting in the scanner's EEPROM.
2. Use the parameter "use_binary_protocol" to overwrite the default settings of the driver.
3. Setting "use_binary_protocol" to "False" activates COLA-A and disables COLA-B (default)