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## note.0= [[ROS/Tutorials|ROS Tutorials]]
## descriptive title for the tutorial
## title = Using SICK Laser Scanners with the sicktoolbox_wrapper
## multi-line description to be displayed in search 
## description = This tutorial is an introduction to using a SICK laser scanner connected to a desktop. After reading this tutorial, you should be able to bring up the sicklms node and display the laser data.
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## what level user is this tutorial for
## level= BeginnerCategory
## keywords = SICK, laser, driver, `LMS200`, `LMS291`
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

=== Compiling ===
Start by getting the dependencies and compiling the driver and rviz.

{{{
$ rosdep install sicktoolbox_wrapper rviz
$ rosmake sicktoolbox_wrapper rviz
}}}
=== Powered On and Plugged In ===
Make sure that your SICK laser is plugged in via USB or serial port and the green power light is on.

||<#FFCCCC> '''NOTE:''' The `RS232` TX and RX lines on the SICK `LMS200`/`LMS291` are reversed. You will need a crossover or null modem cable for the data connection to work properly. ||

=== Configuring the SICK ===
Make sure that the sicklms node will be able to access the SICK laser scanner.

Start by listing the permissions of the SICK connection, this assumes you are using a usb to serial adapter.

{{{
ls -l /dev/ttyUSB0
}}}
You will see something similar to:

 . {{{
crw-rw-XX- 1 root dialout 166, 0 2009-10-27 14:18 /dev/ttyUSB0
}}}

If XX is rw: the laser is configured properly.

If XX is --: the laser is not configured properly and you need to:

{{{
sudo chmod a+rw /dev/ttyUSB0
}}}


=== Starting a roscore ===
For the sicklms node to work properly, a ros core must be running. In a '''new terminal''':

{{{
$ roscore
}}}

=== Setting Parameters ===
Before we can run the sicklms node we need to make sure that we have the correct configurations loaded on the parameter server. 

{{{
$ rosparam set sicklms/port /dev/XXX (this is the port that the SICK is connected to /dev/ttyUSB0, /dev/lms200, etc...)
$ rosparam set sicklms/baud 38400
}}}

=== Running the sicklms node ===
In a '''new terminal''', run the sicklms:

{{{
$ rosrun sicktoolbox_wrapper sicklms
}}}
You will see something similar to:

 . {{{
	*** Attempting to initialize the Sick LMS...
	Attempting to open device @ /dev/ttyUSB0
SickLMS::_setTermSpeed: ioctl() failed while trying to get serial port info!
	NOTE: This is normal when connected via USB!
SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info!
	NOTE: This is normal when connected via USB!
		Device opened!
	Attempting to start buffer monitor...
		Buffer monitor started!
	Attempting to set requested baud rate...
SickLMS::_setTermSpeed: ioctl() failed while trying to get serial port info!
	NOTE: This is normal when connected via USB!
SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info!
	NOTE: This is normal when connected via USB!
		Operating @ 38400bps
	Attempting to sync driver...
		Driver synchronized!
	*** Init. complete: Sick LMS is online and ready!
	Sick Type: Sick LMS 291-S05
	Scan Angle: 180 (deg)
	Scan Resolution: 0.5 (deg)
	Measuring Mode: 8m/80m; fields A,B,Dazzle
	Measuring Units: Centimeters (cm)

	Requesting measured value data stream...
		Data stream started!
}}}

==== Variation: Setting parameters on the command-line ====
Instead of using `rosparam` to set parameters, you can set them on the command line when launching `sicklms`, e.g.:
{{{
$ rosrun sicktoolbox_wrapper sicklms _port:=/dev/XXX _baud:=38400
}}}


=== Viewing the data ===
To see that everything is working and data is being published to ros, in a '''new terminal''':

{{{
$ rosrun rviz rviz 
}}}
You will see the laser scan in rviz: 

{{attachment:rviz_sick.png||width=100%}}




## AUTOGENERATED DO NOT DELETE 
## TutorialCategory
## DriverCategory
## LaserDriverCategory