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.