<> <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage == Hardware requirements == * Sick LMS 200 * Point Grey Chamelon USB2.0 camera == Software requirements == * Point Grey flyCapture SDK == Usage == 1.The node "scan" must be run first: {{{ #!shell rosurn sick_laser scan }}} 2.If you want to get the 3D point cloud,the following command must be run: rosrun sick_laser point_cloud [port_number] [direction] [frequency] [how many degrees to move] [the first degree] [if data save as pcd file]. [port_number] : port number; [direction] : '0' or '1'; [frequency] : The frequency which motor rotate at; [the first degree] : To ensure the coordinate system is prefect,so you should give a first degree. [if data save as pcd file] : 'y' -> yes or 'n'-> no. For example: {{{ #!shell rosrun sick_laser point_cloud 2 1 3600 360 0 y }}} And this node will output the point cloud as "laserdata.pcd". 3.If you want to get the 3D point cloud and the image.Please run the following command: rosrun sick_laser cloud_and_image [port_number] [direction] [frequency] [how many degrees to move] [the first degree] [if data save as pcd file] [port_number] : port number; [direction] : '0' or '1'; [frequency] : The frequency which motor rotate at; [the first degree] : To ensure the coordinate system is prefect,so you should give a first degree. [if data save as pcd file] : 'y' -> yes or 'n'-> no. For example: {{{ #!shell rosrun sick_laser cloud_and_image 2 1 3600 360 0 y }}} And this command will output a point cloud as laserdata.pcd and eight pictures from image1.bmp to image8.bmp. == Nodes == <> {{{ #!clearsilver CS/NodeAPI node.0 { name = scan desc = The scan node is used to generate the data stream of the sick. pub { 0.name = /scan 0.type = sensor_msgs/LaserScan 0.desc = Publish the data stream of the laser scan. } } }}} <> {{{ #!clearsilver CS/NodeAPI node.0 { name = point_cloud desc = The point_cloud node is used to get the 3D point cloud with the the data stream of the laser scan. sub { 0.name = /scan 0.type = sensor_msgs/LaserScan 0.desc = Subscribe the laser scan. } pub { 0.name = cloud 0.type = sensor_msgs/PointCloud 0.desc = Publish the point cloud. } } }}} <> {{{ #!clearsilver CS/NodeAPI node.0 { name = cloud_and_image desc = The cloud_and_image node is used to get the RGBD data of the scene with the sick and the camera. sub { 0.name = /scan 0.type = sensor_msgs/LaserScan 0.desc = Subscribe the laser scan. } pub { 0.name = cloud 0.type = sensor_msgs/PointCloud 0.desc = Publish the point cloud. } } }}} == Bug Reports & Feature Requests == We appreciate the time and effort spent submitting bug reports.