GETTINGSTARTED.md

Getting started

Run the following steps for a quick start:

1. Create a workspace (e.g. folder sick_scan_ws), clone the sick_scan_xd repository and build sick_generic_caller and shared library:

   • For Linux without ROS: Follow the build instructions for Linux generic without ROS

   • For Linux with ROS-1: Follow the build instructions for Linux ROS1

   • For Linux with ROS-2: Follow the build instructions for Linux ROS2

   • For Windows without ROS: Follow the build instructions for Windows without ROS

   • For Windows with ROS-2: Follow the build instructions for Windows with ROS2

2. Connect your lidar. Check the network connection by ping <lidar-ip-address>.

3. Run the sick_scan_xd driver:

   • For Linux without ROS: Use the sick_scan_xd API and run sick_scan_xd_api_test <launchfile> hostname:=<lidar-ip-address>, e.g.:

     cd ./sick_scan_ws
     export LD_LIBRARY_PATH=.:`pwd`/build:$LD_LIBRARY_PATH  # append absolute path to the build folder
     ./build/sick_scan_xd_api_test ./sick_scan_xd/launch/sick_tim_7xx.launch hostname:=192.168.0.1
     

   • For Linux with ROS-1: Launch sick_scan_xd: roslaunch sick_scan_xd <launchfile> hostname:=<lidar-ip-address>, e.g.:

     cd ./sick_scan_ws
     source ./devel_isolated/setup.bash
     roslaunch sick_scan_xd sick_tim_7xx.launch hostname:=192.168.0.1
     

   • For Linux with ROS-2: Run ros2 launch sick_scan_xd <launchfile> hostname:=<lidar-ip-address>, e.g.:

     cd ./sick_scan_ws
     source ./install/setup.bash
     ros2 launch sick_scan_xd sick_tim_7xx.launch.py hostname:=192.168.0.1
     

   • For Windows without ROS: Use the sick_scan_xd API and run sick_scan_xd_api_test <launchfile> hostname:=<lidar-ip-address>, e.g.:

     cd .\sick_scan_ws\sick_scan_xd
     set PATH=.;.\build;..\build\Debug;%PATH%
     .\build\Debug\sick_scan_xd_api_test.exe launch/sick_tim_7xx.launch hostname:=192.168.0.1
     

   • For Windows with ROS-2: Run ros2 launch sick_scan_xd <launchfile> hostname:=<lidar-ip-address>, e.g.:

     cd .\sick_scan_ws
     call .\install\setup.bat
     ros2 launch sick_scan_xd sick_tim_7xx.launch.py hostname:=192.168.0.1
     

   See Run sick_scan_xd driver and sick_scan_xd API for configuration and further details.