Everything builds with catkin. A bit more cleanup is needed.

CMakeLists.txt

@@ -1,5 +1,85 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-rosbuild_init()
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-subdirs(standalone ros)
+cmake_minimum_required(VERSION 2.8.3)
+project(sicktoolbox_wrapper)
+
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs sicktoolbox rosconsole diagnostic_updater)
+
+## System dependencies are found with CMake's conventions
+#find_package(Threads)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS
+  LIBRARIES
+  CATKIN_DEPENDS roscpp sensor_msgs sicktoolbox rosconsole diagnostic_updater
+  DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_executable(sickld ros/sickld/sickld.cpp)
+target_link_libraries(sickld ${catkin_LIBRARIES})
+
+add_executable(sicklms ros/sicklms/sicklms.cpp)
+target_link_libraries(sicklms ${catkin_LIBRARIES})
+
+add_executable(print_scans standalone/print_scans.cpp)
+target_link_libraries(print_scans ${catkin_LIBRARIES})
+
+add_executable(time_scans standalone/time_scans.cpp)
+target_link_libraries(time_scans ${catkin_LIBRARIES})
+
+add_executable(log_scans standalone/log_scans.cpp)
+target_link_libraries(log_scans ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+#install(TARGETS SickLD SickLMS1xx SickLMS2xx LDConfigLib ld_config 
+#  ld_more_config ld_multi_sector ld_single_sector lms1xx_simple_app 
+#  lms2xx_config lms2xx_mean_values lms2xx_partial_scan lms2xx_real_time_indices 
+#  lms2xx_set_variant lms2xx_simple_app lms2xx_stream_range_and_reflect lms2xx_subrange
+#  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#)
+
+## TODO Move headers that aren't needed externally back into the source
+## Mark cpp header files for installation
+#install(DIRECTORY include/${PROJECT_NAME}/
+#  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#  FILES_MATCHING PATTERN "*.hh"
+#  PATTERN ".svn" EXCLUDE
+#)
+
+## TODO There are readmes, etc, create install rules for these
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )

package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<package>
+  <name>sicktoolbox_wrapper</name>
+  <version>2.5.0</version>
+  <description>sicktoolbox_wrapper is a ROS wrapper for the outstanding <a href="http://www.ros.org/wiki/sicktoolbox">sicktoolbox</a>
+    library for interfacing with the SICK LMS2xx lasers.
+  </description>
+
+  <maintainer email="chadrockey@willowgarage.com">Chad Rockey</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/sicktoolbox_wrapper</url>
+  <url type="bugtracker">https://github.com/ros-drivers/sicktoolbox_wrapper/issues</url>
+  <url type="repository">https://github.com/ros-drivers/sicktoolbox_wrapper</url>
+
+  <author email="mquigley@cs.stanford.edu">Morgan Quigley</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>sicktoolbox</build_depend>
+  <build_depend>diagnostic_updater</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>rosconsole</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>sicktoolbox</run_depend>
+  <run_depend>diagnostic_updater</run_depend>
+
+  <export>
+  </export>
+</package>

ros/sickld/sickld.cpp

@@ -8,7 +8,7 @@
  */ 
 
 #include <iostream>
-#include <sickld-1.0/SickLD.hh>
+#include <sicktoolbox/SickLD.hh>
 #include "ros/ros.h"
 #include "sensor_msgs/LaserScan.h"
 #include <deque>

ros/sicklms/sicklms.cpp

@@ -33,7 +33,7 @@
 #include <cstdio>
 #include <math.h>
 #include <limits>
-#include <sicklms-1.0/SickLMS.hh>
+#include <sicktoolbox/SickLMS2xx.hh>
 #include "ros/ros.h"
 #include "sensor_msgs/LaserScan.h"
 #include <diagnostic_updater/diagnostic_updater.h> // Publishing over the diagnostics channels.
@@ -154,14 +154,14 @@ void publish_scan(diagnostic_updater::DiagnosedPublisher<sensor_msgs::LaserScan>
   pub->publish(scan_msg);
 }
 
-SickLMS::sick_lms_measuring_units_t StringToLmsMeasuringUnits(string units)
+SickLMS2xx::sick_lms_2xx_measuring_units_t StringToLmsMeasuringUnits(string units)
 {
   if (units.compare("mm") == 0)
-    return SickLMS::SICK_MEASURING_UNITS_MM;
+    return SickLMS2xx::SICK_MEASURING_UNITS_MM;
   else if (units.compare("cm") == 0)
-    return SickLMS::SICK_MEASURING_UNITS_CM;
+    return SickLMS2xx::SICK_MEASURING_UNITS_CM;
 
-  return SickLMS::SICK_MEASURING_UNITS_UNKNOWN;
+  return SickLMS2xx::SICK_MEASURING_UNITS_UNKNOWN;
 }
 
 
@@ -231,17 +231,17 @@ int main(int argc, char **argv)
 	  ROS_WARN("The use_rep_117 parameter is set to false.  This parameter will be removed in Hydromedusa.  Please see: http://ros.org/wiki/rep_117/migration");
 	}
 
-	SickLMS::sick_lms_baud_t desired_baud = SickLMS::IntToSickBaud(baud);
-	if (desired_baud == SickLMS::SICK_BAUD_UNKNOWN)
+	SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::IntToSickBaud(baud);
+	if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN)
 	{
 		ROS_ERROR("Baud rate must be in {9600, 19200, 38400, 500000}");
 		return 1;
 	}
-	uint32_t range_values[SickLMS::SICK_MAX_NUM_MEASUREMENTS] = {0};
-  uint32_t intensity_values[SickLMS::SICK_MAX_NUM_MEASUREMENTS] = {0};
+	uint32_t range_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0};
+  uint32_t intensity_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0};
 	uint32_t n_range_values = 0;
   uint32_t n_intensity_values = 0;
-	SickLMS sick_lms(port);
+	SickLMS2xx sick_lms(port);
 	double scale = 0;
   double angle_offset;
   uint32_t partial_scan_index;
@@ -258,7 +258,7 @@ int main(int argc, char **argv)
                 // the user specifies a setting.
                 int actual_angle = sick_lms.GetSickScanAngle();
                 double actual_resolution = sick_lms.GetSickScanResolution();
-                SickLMS::sick_lms_measuring_units_t actual_units = sick_lms.GetSickMeasuringUnits();
+                SickLMS2xx::sick_lms_2xx_measuring_units_t actual_units = sick_lms.GetSickMeasuringUnits();
 
 		// Attempt to set measurement angles and angular resolution
                 try {
@@ -304,9 +304,9 @@ int main(int argc, char **argv)
 		  }
 		}
 
-		if (actual_units == SickLMS::SICK_MEASURING_UNITS_CM)
+		if (actual_units == SickLMS2xx::SICK_MEASURING_UNITS_CM)
 			scale = 0.01;
-		else if (actual_units == SickLMS::SICK_MEASURING_UNITS_MM)
+		else if (actual_units == SickLMS2xx::SICK_MEASURING_UNITS_MM)
 			scale = 0.001;
 		else
 		{
@@ -318,29 +318,29 @@ int main(int argc, char **argv)
     // for the mirror to rotate. If we have a higher resolution, the
     // SICKs interleave the readings, so the net result is we just
     // shift the measurements.
-    if (angle == 180 || sick_lms.IsSickLMSFast()) {
+    if (angle == 180 || sick_lms.IsSickLMS2xxFast()) {
       scan_time = 1.0 / 75;
     } 
     else {
-      SickLMS::sick_lms_scan_resolution_t scan_resolution =
-        SickLMS::DoubleToSickScanResolution(resolution);
-      if ( scan_resolution == SickLMS::SICK_SCAN_RESOLUTION_25) {
+      SickLMS2xx::sick_lms_2xx_scan_resolution_t scan_resolution =
+        SickLMS2xx::DoubleToSickScanResolution(resolution);
+      if ( scan_resolution == SickLMS2xx::SICK_SCAN_RESOLUTION_25) {
         // 0.25 degrees
         scan_time = 4.0 / 75;   // 53.33 ms
       }
-      else if ( scan_resolution == SickLMS::SICK_SCAN_RESOLUTION_50) {
+      else if ( scan_resolution == SickLMS2xx::SICK_SCAN_RESOLUTION_50) {
         // 0.5 degrees
         scan_time = 2.0 / 75;   // 26.66 ms
       }
-      else if ( scan_resolution == SickLMS::SICK_SCAN_RESOLUTION_100) {
+      else if ( scan_resolution == SickLMS2xx::SICK_SCAN_RESOLUTION_100) {
         // 1 degree
         scan_time = 1.0 / 75;   // 13.33 ms
       }
       else {
         ROS_ERROR("Bogus scan resolution.");
         return 1;
       }
-      if ( scan_resolution != SickLMS::SICK_SCAN_RESOLUTION_100) {
+      if ( scan_resolution != SickLMS2xx::SICK_SCAN_RESOLUTION_100) {
         ROS_WARN("You are using an angle smaller than 180 degrees and a "
                  "scan resolution less than 1 degree per scan. Thus, "
                  "you are in inteleaved mode and the returns will not "
@@ -356,7 +356,7 @@ int main(int argc, char **argv)
     // 0.5 or 0.25 degrees resolution because it is interleaved. So for
     // 0.5 degrees, two scans are needed, offset by 0.5 degrees. These
     // show up as two seperate LaserScan messages.
-    angle_increment = sick_lms.IsSickLMSFast() ? 0.5 : 1.0;
+    angle_increment = sick_lms.IsSickLMS2xxFast() ? 0.5 : 1.0;
 
     angle_offset = (180.0-angle)/2;
 	}
@@ -369,7 +369,7 @@ int main(int argc, char **argv)
 	{
 		while (ros::ok())
 		{
-      if (sick_lms.IsSickLMSFast()) {
+      if (sick_lms.IsSickLMS2xxFast()) {
         // There's no inteleaving, but we can capture both the range
         // and intensity simultaneously
         sick_lms.GetSickScan(range_values, intensity_values,

standalone/log_scans.cpp

@@ -34,7 +34,7 @@ extern "C" {
 #include <stdint.h>
 }
 #include <cstdio>
-#include <sicklms-1.0/SickLMS.hh>
+#include <sicktoolbox/SickLMS2xx.hh>
 #include <ros/time.h>
 using namespace SickToolbox;
 using namespace std;
@@ -59,16 +59,16 @@ int main(int argc, char **argv)
     return 1;
   }
   string lms_dev = argv[1];
-  SickLMS::sick_lms_baud_t desired_baud = SickLMS::StringToSickBaud(argv[2]);
-  if (desired_baud == SickLMS::SICK_BAUD_UNKNOWN)
+  SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::StringToSickBaud(argv[2]);
+  if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN)
   {
     printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n");
     return 1;
   }
   signal(SIGINT, ctrlc_handler);
-  uint32_t values[SickLMS::SICK_MAX_NUM_MEASUREMENTS] = {0};
+  uint32_t values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0};
   uint32_t num_values = 0;
-  SickLMS sick_lms(lms_dev);
+  SickLMS2xx sick_lms(lms_dev);
   try
   {
     sick_lms.Initialize(desired_baud);

standalone/print_scans.cpp

@@ -36,7 +36,7 @@ extern "C" {
 #include <stdint.h>
 }
 #include <cstdio>
-#include <sicklms-1.0/SickLMS.hh>
+#include <sicktoolbox/SickLMS2xx.hh>
 using namespace SickToolbox;
 using namespace std;
 
@@ -54,16 +54,16 @@ int main(int argc, char **argv)
     return 1;
   }
   string lms_dev = argv[1];
-  SickLMS::sick_lms_baud_t desired_baud = SickLMS::StringToSickBaud(argv[2]);
-  if (desired_baud == SickLMS::SICK_BAUD_UNKNOWN)
+  SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::StringToSickBaud(argv[2]);
+  if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN)
   {
     printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n");
     return 1;
   }
   signal(SIGINT, ctrlc_handler);
-  uint32_t values[SickLMS::SICK_MAX_NUM_MEASUREMENTS] = {0};
+  uint32_t values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0};
   uint32_t num_values = 0;
-  SickLMS sick_lms(lms_dev);
+  SickLMS2xx sick_lms(lms_dev);
   try
   {
     sick_lms.Initialize(desired_baud);