The Sweep ROS Driver and Node requires that the libsweep library from the sweep-sdk be installed on the computer.
See the libsweep README for full installation instructions, or follow the brief guide below:
# clone the sweep-sdk repository git clone https://github.com/scanse/sweep-sdk # enter the libsweep directory cd sweep-sdk/libsweep # create and enter a build directory mkdir -p build cd build # build and install the libsweep library cmake .. -DCMAKE_BUILD_TYPE=Release cmake --build . sudo cmake --build . --target install sudo ldconfig
Scanse Sweep ROS Driver and Node
This node is currently publishing a
pointcloud2 msg. This is because the Sweep device does not use fixed azimuth intervals. For more details see the Sweep theory of operation. Use
sweep2scan.launch for conversion to
Currently, sweep-ros is only compatible with sweep
firmware v1.1 or greater.