Sick_Safetyscanners ROS Driver
Table of contents
A ROS Driver which reads the raw data from the SICK Safetyscanners and publishes the data as a laser_scan msg.
Supported Hardware
| Product Family | Product Type | Description |
|---|---|---|
| microScan3 Core | MICS3-ACAZ40PZ1 | Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 4 m |
| MICS3-ACAZ55PZ1 | Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 5.5 m | |
| MICS3-ACAZ90PZ1 | Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 9 m | |
| MICS3-ABAZ40IZ1 | Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 4 m | |
| MICS3-ABAZ55IZ1 | Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 5.5 m | |
| MICS3-ABAZ90IZ1 | Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 9 m | |
| MICS3-ABAZ40ZA1 | Safety Laser Scanner, EFI-pro, Protective Field Range: 4 m | |
| MICS3-ABAZ55ZA1 | Safety Laser Scanner, EFI-pro, Protective Field Range: 5.5 m | |
| MICS3-ABAZ90ZA1 | Safety Laser Scanner, EFI-pro, Protective Field Range: 9 m | |
| microScan3 Pro | MICS3-CBAZ40PZ1 | Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 4 m |
| MICS3-CBAZ55PZ1 | Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 5.5 m | |
| MICS3-CBAZ90PZ1 | Safety Laser Scanner, PROFINET PROFIsafe, Protective Field Range: 9 m | |
| MICS3-CBAZ40IZ1 | Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 4 m | |
| MICS3-CBAZ55IZ1 | Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 5.5 m | |
| MICS3-CBAZ90IZ1 | Safety Laser Scanner, EtherNet/IP CIP Safety, Protective Field Range: 9 m | |
| MICS3-CBAZ40ZA1 | Safety Laser Scanner, EFI-pro, Protective Field Range: 4 m | |
| MICS3-CBAZ55ZA1 | Safety Laser Scanner, EFI-pro, Protective Field Range: 5.5 m | |
| MICS3-CBAZ90ZA1 | Safety Laser Scanner, EFI-pro, Protective Field Range: 9 m | |
Getting started
The ROS driver will be released as a debian package, and therefore can be installed from binaries or from source.
Prerequisites
- Linux
- Working ROS-Distro
- Correctly setup SickSafetyscanner
- Connected SickSafetyscanners and a correctly setup ethernet network. Both the host and the sensor have to be in the same network.
Installation
In the following instructions, replace <rosdistro> with the name of your ROS distro (e.g., kinetic).
From Binaries
The driver is released at longer intervals as a binary package. At the moment the initial release is still in progress. Once it is released it can be installed with the following command:
sudo apt-get install ros-<rosdistro>-sick_safetyscanners
From Source
source /opt/ros/<rosdistro>/setup.bash
mkdir -p ~/catkin_ws/src/
cd ~/catkin_ws/src/
git clone https://github.com/SICKAG/sick_safetyscanners.git
cd ..
catkin_make install
source ~/catkin_ws/install/setup.bashStarting
To start the driver the launch file has to be started. For the driver to work correctly, the sensor ip, sensor tcp port, host ip and host udp port have to be defined. These parameters can be passed to the sensor as arguments via launch file.
roslaunch sick_safetyscanners sick_safetyscanners.launch sensor_ip:=192.168.1.10 sensor_tcp_port:=2122 host_ip:=192.168.1.9 host_udp_port:=6060
This will start the driver and the dynamic reconfigure node. In this you can set different parameters on runtime, especially the angles and the data the sensor should publish. If these parameters should be set on startup they can be loaded to the parameter server beforehand.
To visualize the data start rviz and subscribe to the ~/laser_scan topic.
rosrun rviz rviz
Troubleshooting
- Check if the sensor has power and is connected to the host.
- Check if both sensor and host are in the same subnet e.g. 192.168.1
- Check if the launch file is called with the correct parameters for IP-addresses and ports.
ROS API
Advertised ROS Topics
~/laser_scan (type: sensor_msgs/LaserScan)
Publishes a scan from the laserscanner
~/extended_laser_scan (type sick_safetyscanners/ExtendedLaserScanMsg)
Extends the basic laser scan message by reflektor data and intrusion data.
~/raw_data (type: sick_safetyscanners/RawMicroScanDataMsg)
Publishes the raw data from the sensor as a ros message.
ROS parameters
| Parameter Name | Type | Default | Required on startup | Information |
|---|---|---|---|---|
| sensor_ip | String | 192.168.1.11 | ✔ | Sensor IP address. Can be passed as an argument to the launch file. |
| sensor_tcp_port | Integer | 2122 | ✔ | Sensor TCP Port. Can be passed as an argument to the launch file. |
| host_ip | String | 192.168.1.9 | ✔ | Host IP address. Can be passed as an argument to the launch file. |
| host_udp_port | Integer | 6061 | ✔ | Host UDP Port. Can be passed as an argument to the launch file. |
| laser_scan_frame_name | String | laser_scan | The frame name of the sensor message | |
| publish_frequency | Integer | 1 | How many scans should be published (1 means every scan, 2 every second scan, ... ) | |
| angle_start | Double | 0.0 | Start angle of scan, if both start and end angle are set to 0, all angels are regarded | |
| angle_end | Double | 0.0 | End angle of scan, if both start and end angle are set to 0, all angels are regarded | |
| channel_enabled | Boolean | true | If the channel should be enabled | |
| general_system_state | Boolean | true | If the general system state should be published | |
| derived_settings | Boolean | true | If the derived settings should be published | |
| measurement_data | Boolean | true | If the measurement data should be published | |
| intrusion_data | Boolean | true | If the intrusion data should be published | |
| application_io_data | Boolean | true | If the application IO data should be published |
Creators
Lennart Puck
FZI Forschungszentrum Informatik
on behalf of SICK AG