Sick Safevisionary ROS

This is the official ROS driver for the Sick safeVisionary2 cameras.

System dependencies

We use Boost’s lock-free data structures in this driver. You can install them with

sudo apt-get install libboost-all-dev

Build and install

You can either setup a fresh ROS workspace, for instance with

mkdir -p $HOME/sick_ws/src && cd "$_"
catkin_init_workspace

or use an existing one. Inside the src folder of that ROS workspace, get the relevant ROS packages

git clone https://github.com/SICKAG/sick_safevisionary_ros1.git
git clone https://github.com/SICKAG/sick_safevisionary_base.git
rosdep install --ignore-src --from-paths ./ -y -r

We use catkin build for building the workspace. That’s more convenient when working with the sick_safevisionary_base library, which is a non-catkin package and would else require catkin_make_isolated. catkin is part of the catkin_tools package. You can install it e.g. with

sudo apt-get install python3-catkin-tools

Here’s more information about this install.

You can then build everything in the root of the ROS workspace with

cd ..
catkin config --install
catkin build

If you used an existing workspace for the new Sick components, you might need to remove the build folder first so that you don’t mix build spaces with previous calls to catkin_make.

Getting started

Each camera must be configured once. The setup is explained here. Source your local install/setup.bash and run

roslaunch sick_safevisionary_driver driver_node.launch

You can list the relevant topics with

rostopic list | grep sick_safevisionary