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SICKAG / sick_scan_xd

Based on the sick_scan drivers for ROS1, sick_scan_xd merges sick_scan, sick_scan2 and sick_scan_base repositories. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2).
Apache License 2.0
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Issue with Configuring ROS2 Launch File for TIM561-2050101S80 #358

Closed FekihS closed 3 months ago

FekihS commented 3 months ago

I am currently working on a project involving the transmission of raw data from a SICK Lidar TIM561-2050101S80 via a router and 5G to a data center. My goal is to process these raw data into a ROS2 node for further use within the ROS framework.

While I have successfully managed to transmit the raw data to the data center, I am facing difficulties in configuring the ROS2 launch file. The configuration file requires an IP address and port for a bidirectional connection, which I am unable to establish under the current setup.

Could you please provide any available code or guidance on how to run ROS2 nodes based on the raw data received for the TIM561-2050101S80 model? Your assistance in this matter would be highly appreciated.

Thank you for your support and I look forward to your response.

rostest commented 3 months ago

Thanks for your feedback. The sick_scan_xd driver requires a TCP connection to the lidar for configuration, initialization and scan data transfer. If a TCP connection cannot be established, but the raw scan data is available, you can parse the raw data, convert them into a point cloud and publish it. Use the description of the telegram structure "sEA LMDscandata" in the TIM561 telegram listing for raw data parsing. After parsing, the scan data must be converted from polar to cartesian coordinates and published using a ROS Pointcloud2 messsage.