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sick_tim

Package Summary

Documented

A ROS driver for the SICK TiM series of laser scanners. Currently, the package supports several types of TiM310 and TiM551 scanners.

Package Summary

Released Continuous integration Documented

A ROS driver for the SICK TiM series of laser scanners. Currently, the pacakge supports serveral types of TiM310 and TiM551 scanners.

  • Maintainer status: developed
  • Maintainer: Martin Günther <mguenthe AT uos DOT de>
  • Author: Jochen Sprickerhof <ros AT jochen.sprickerhof DOT de>, Martin Günther <mguenthe AT uos DOT de>
  • License: BSD
  • Source: git https://github.com/uos/sick_tim.git (branch: hydro_catkin)

Package Summary

Released Continuous integration Documented

A ROS driver for the SICK TiM series of laser scanners. Currently, the package supports serveral types of TiM310, TiM551 and TiM571 scanners.

  • Maintainer status: developed
  • Maintainer: Martin Günther <martin.guenther AT dfki DOT de>
  • Author: Jochen Sprickerhof <ros AT jochen.sprickerhof DOT de>, Martin Günther <martin.guenther AT dfki DOT de>
  • License: BSD
  • Source: git https://github.com/uos/sick_tim.git (branch: indigo)

Package Summary

Released Continuous integration Documented

A ROS driver for the SICK TiM series of laser scanners. Currently, the package supports serveral types of TiM310, TiM551 and TiM571 scanners.

  • Maintainer status: developed
  • Maintainer: Martin Günther <martin.guenther AT dfki DOT de>
  • Author: Jochen Sprickerhof <ros AT jochen.sprickerhof DOT de>, Martin Günther <martin.guenther AT dfki DOT de>
  • License: BSD
  • Source: git https://github.com/uos/sick_tim.git (branch: jade)

Package Summary

Released Continuous integration Documented

A ROS driver for the SICK TiM series of laser scanners. Currently, the package supports serveral types of TiM310, TiM551 and TiM571 scanners.

  • Maintainer status: developed
  • Maintainer: Martin Günther <martin.guenther AT dfki DOT de>
  • Author: Jochen Sprickerhof <ros AT jochen.sprickerhof DOT de>, Martin Günther <martin.guenther AT dfki DOT de>
  • License: BSD
  • Source: git https://github.com/uos/sick_tim.git (branch: kinetic)

build status

build status

build status

Choosing the right branch

Choose the branch named according to your ROS version (e.g. fuerte, groovy...). One exception is hydro, for which there are two branches: hydro for rosbuild, or hydro_catkin for Catkin (recommended). From indigo on, Catkin will be the only supported option.

Supported scanner types

This package provides one node for each supported type of scanner (all nodes provide the same features). The model name and part no. can be found on the side of the scanner. Since all scanners of the TIM line look alike, this is the only reliable way of identifying your device.

If your TIM scanner is not listed below, just try out whether one of the nodes works for you. If it does, drop us a mail, so we can add that model to the list. If it doesn't, open a Github issue, and we'll try to add support.

Node: sick_tim310s01

Model Name: TIM310-1030000S01

Part No.: 1056791

Web site: link

This is the "special edition" of the TIM3xx line. It was developed on request and officially supports ranging (i.e., there is a specification of the datagram format).

Frequency: 15 Hz, range: 4m. Range + intensities.

Node: sick_tim310

Model Name: TIM310-1030000

Part No.: 1052627

Web site: link.

This is the standard edition of the TIM310. It does not support ranging (only detection). There was a firmware bug in versions prior to V2.50 that allowed ranging output, and this node works with those firmware versions. All newer firmware versions will not work.

Frequency: 1.875 Hz, range: 4m. Range + intensities. (This is a little strange, because according to the specs, frequency should be 15 Hz).

Node: sick_tim310_1130000m01

Model Name: TIM310-1130000M01

Part No.: 1062563

Web site: none

Only available as a sample device (?). Angular resolution: 3°, no intensities. Will probably be rebranded as TIM-510.

Frequency: 15 Hz, range: 4m. Only range, no intensities.

Node: sick_tim551_2050001

Model Name: TIM551-2050001

Part No.: 1060445

Web site: link

Frequency: 15 Hz, angular resolution: 1°, range: 10m. Range + intensities.

Other devices tested to work with this node (both TCP and USB, where available):

  • TIM351-2134001 only works with firmware revisions prior to V2.50 (cf. Issue)

  • TIM561-2050101

  • TIM571-2050101 (P/N 1075091); frequency: 15 Hz, angular resolution: 0.333°, range: 25m; see sick_tim571_2050101.launch

ROS API

Before starting

See the udev/README file in the package directory.

USB vs. TCP (Ethernet) connection

By default the node will try to use the USB connection. To use the ethernet connection instead (for those scanners that have one), you have to set the parameter "hostname" to the scanner hostname or IP (see commented out part in the respective sick_tim/launch/sick*.launch files).

The scanner IP can be changed using the SICK SOPAS-ET configuration software.

In case of problems, make sure your PC is on the same network as the scanner and that you can ping the scanner from your PC.

Enabling intensity (RSSI) output

To reduce data rates, some scanners (e.g., the TiM 571) don't send RSSI data by default. It must first be enabled in the configuration software by downloading SOPAS-ET 3.2.0, connecting to the sensor using USB or Ethernet, logging in (UID: Authorized Client, PWD: client), and clicking the checkbox shown below:

sopas-enable-rssi.png

Quick start

roslaunch sick_tim sick_tim551_2050001.launch

Now you can visualize the /scan topic using rviz. Enjoy! :-)

sick_tim3xx.png

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

  • Enable publish_datagram in the launch file, by moving it out of the xml comments (<!-- ... -->) and setting it to true: <param name="publish_datagram" type="bool" value="true" />.

  • roslaunch sick_tim sick_timXXX.launch
  • (in a new terminal:) rosbag record --limit=50 --bz2 /scan /datagram /diagnostics
  • Attach the resulting bag file to the bug report.

Wiki: sick_tim (last edited 2016-08-23 08:30:31 by MartinGuenther)