sick_visionary_ros

Overview

This repository contains the ROS drivers for Sick Visionary-T Mini CX (V3S105-1AAAAAA) and Sick Visionary-S CX (V3S102-1AAAAAA and V3S102-1AABAAB).

License

The source code is released under The Unlicense.

Supported environments

The sick_visonary_ros package has been tested under [ROS] Noetic 64bit on Ubuntu 20.04.

Table of Contents

• Supported Hardware
• Getting Started
• Launch Files
• Nodes
• Support

Supported Hardware

Getting Started

Installation

1. First you need a working ROS installation. (ROS wiki) (If you already have a running ROS environment skip to step 2.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' # Setup your sources.list
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - #Set up your keys
sudo apt update #Update your Debian package index
sudo apt install ros-noetic-desktop ros-noetic-pcl-ros ros-noetic-pcl-conversions # install the packages

2. Clone this repository into your catkin workspace. Change <YOUR_WORKSPACE> to your actual workspace name and <REPO_URL> to the url provided by the Clone button.

cd ~/<YOUR_WORKSPACE>/src
git clone <REPO_URL>

After cloning this repository into the src folder of your catkin workspace run these additional git commands to have the correct submodules in place:

git submodule init
git submodule update

Note If you’ve received a distribution archive just extract it into the src folder of your catkin workspace.

Important Ensure the ROS environment is active.

source /opt/ros/noetic/setup.bash

3. Compile and install

cd ~/<YOUR_WORKSPACE> # move to the top level of your catkin workspace
catkin_make # Compile the drivers
catkin_make install # local install
source install/setup.bash # source your workspace on top of your environment

Quick Start

Important Ensure the camera device is connected to your computer.

1. Connect your device via Ethernet to your local PC
2. Connect the device to the power supply and wait until it has booted up

1. Use the launch file to start the node. For the Visionary-T Mini CX run:

roslaunch sick_visionary_ros sick_visionary-t_mini.launch

Note Please use the device specific launch file to start the correct driver variant.

2. Visualize the results in RViz (3D visualization tool for ROS). Open a new terminal and run

rosrun rviz rviz

You should see the rviz window pop up. In the Displays window (inside Rviz) under Global Options, set Fixed Frame to camera to match the default frameid (see parameters). Subscibre to the topic you want to be displayed. **For example to view the _Depth map**: Add > By Topic > /sick_visionary_t_mini > /depth > Camera > Ok You should see a new display in the main Rviz window which visualises the topic data.

Note Optionally save the Rviz configuration to skip setting the parameters and windows at the next restart. Simply close the Rviz window and follow the instructions.

Launch files

There is one launch file for each supported device.

• sick_visionary-s.launch
• sick_visionary-t_mini.launch

The launch file starts the respective ROS Node and provides it with the necessary parameters and arguments.

Note The driver connects to the default IP and API-port (2114) of the device. To adapt this for your needs just edit the launch file for the specific variant.

Arguments

• camera: Name of the device. (default: sick_visionary_t_mini or sick_visionary_s)

Parameters

sick_visionary-s.launch

• remote_device_ip: IP-address of the device (string, default: 192.168.1.10)

• frame_id: Name of the reference frame. (string, default: camera)

• enable_z: Enables publishing of z-topic. (bool, default: true)

• enable_statemap: Enables publishing of statemap-topic. (bool, default: true)

• enable_rgba: Enables publishing of rgba-topic. (bool, default: true)

• enable_points: Enables publishing of points-topic. (bool, default: true)

• desired_frequency: Sets the desired frequency in the diagnostics-topic. Min and max frequencies are derived from it (double, default: 15.0)

sick_visionary-t_mini.launch

• remote_device_ip: IP-address of the device (string, default: 192.168.1.10)

• frame_id: Name of the reference frame. (string, default: camera)

• enable_depth: Enables publishing of depth-topic. (bool, default: true)

• enable_statemap: Enables publishing of statemap-topic. (bool, default: true)

• enable_intensity: Enables publishing of intensity-topic. (bool, default: true)

• enable_points: Enables publishing of points-topic. (bool, default: true)

• desired_frequency: Sets the desired frequency in the diagnostics-topic. Min and max frequencies are derived from it (double, default: 15.0)

Nodes

sick_visionary_s_node

Visionary-S is a 3D camera based on structured light stereovision. It provides real-time 3D and RGB data at up to 30 frame per second (fps).

Published Topics:

• /camera_info (sensor_msgs/CameraInfo) Camera calibration and metadata.
• /z (sensor_msgs/Image) Depicts distance to camera. Contains uint16 distance values.
• /points (sensor_msgs/PointCloud2) Contains XYZ point cloud [m]
• /statemap (sensor_msgs/Image) Contains uint16 statemap values which help to understand wheter the data is missing due to a configured filter or due to other circumstances e.g. saturation effects.
• /rgba (sensor_msgs/Image) RGBA color image.

sick_visionary_t_mini

Visionary-T Mini is a 3D camera based on the time-of-flight (TOF) principle. It provides real-time 3D and 2D data at up to 30 frame per second (fps).

Published Topics:

• /camera_info (sensor_msgs/CameraInfo) Camera calibration and metadata.
• /depth (sensor_msgs/Image) Contains uint16 radial distance values [1/4 mm]
• /points (sensor_msgs/PointCloud2) Contains XYZ point cloud [m]
• /intensity (sensor_msgs/Image) Raw image from device. Contains uint16 intensity values. Helpful for visual identification of the scene.
• /statemap (sensor_msgs/Image) Contains uint16 statemap values which help to understand wheter the data is missing due to a configured filter or due to other circumstances e.g. saturation effects.

Support

Depending on the nature of your question, there are two support channels:

1. For questions regarding the code shared in this repo please check the FAQ first and search if an issue already exists. If a related issue doesn’t exist, you can open a new issue using the issue form.
2. For application or device specific questions look for common solutions and knowledge articles on the Sick Support Portal. If your question is not answered there, open a ticket on the Sick Support Portal.

Keywords

Visionary-S Visionary-T Mini ROS SICK CX

Contributing to SICK Visionary ROS

:+1::tada: Thank you for investing your time in contributing to our project! :tada::+1:

Code of Conduct

This project and everyone participating in it is governed by the following Code of Conduct. By participating, you are expected to uphold this code.

If you have a question or are in need of technical support

Depending on the nature of your question, there are two support channels:

1. For questions regarding the code shared in this repo please check the FAQ first and search if an issue already exists. If a related issue doesn’t exist, you can open a new issue using the bug/issue form.
2. For application or device specific questions look for common solutions and knowledge articles on the Sick Support Portal. If your question is not answered there, open a ticket on the Sick Support Portal.

How to contribute

IMPORTANT: Contributions are subject to the Github Terms of service “Whenever you add Content to a repository containing notice of a license, you license that Content under the same terms, and you agree that you have the right to license that Content under those terms. If you have a separate agreement to license that Content under different terms, such as a contributor license agreement, that agreement will supersede.”

Issues

Create a new issue

If you spot a problem, check the FAQ first and search if an issue already exists. If a related issue doesn’t exist, you can open a new issue using the bug/issue form.

Note: If you find a Closed issue that seems like it is the same thing that you’re experiencing, open a new issue and include a link to the original issue in the body of your new one.

A good issue form includes:

• Description: Clear description of the issue.

• Steps to Reproduce
  1. First Step
  2. Second Step
  3. and so on…

• Expected behavior: What you expect to happen?

• Actual behavior: What actually happens?

• Reproduces how often: What percentage of the time does it reproduce?

• Versions: Which version of the software are you using? Either include the version tag or the commit hash.

• Additional Information: Any additional information, configuration or data that might be necessary to reproduce the issue.

Solve an issue

Scan through our existing issues to find one that interests you. You can narrow down the search using labels as filters. See Labels for more information. If you find an issue to work on, you are welcome to open a PR with a fix.

Make changes

Before making any changes make sure to follow our Styleguide. In general, we follow the “fork-and-pull” Git workflow.

1. Fork the repo on GitHub
2. Clone the project to your own machine
3. Create a new feature Branch
4. Commit changes to your own branch
5. Push your work back up to your fork
6. Submit a Pull request so that we can review your changes

NOTE Be sure to merge the latest from “upstream” before making a pull request!

Enhacement

Enhancement suggestions are tracked as GitHub issues.

This section guides you through submitting an enhancement suggestion, including completely new features and minor improvements to existing functionality. Following these guidelines helps maintainers and the community understand your suggestion and find related suggestions.

When you are creating an enhancement suggestion, please include as many details as possible. Fill in the feature template, including the steps that you imagine you would take if the feature you’re requesting existed.

A good enhancement suggestion includes:

• Summary: One paragraph explanation of the feature.

• Motivation: Why are we doing this? What use cases does it support? What is the expected outcome?

• Describe alternatives: A clear and concise description of the alternative solutions you’ve considered.

• Additional context: Add any other context or screenshots about the feature request here.

Styleguide

Linting

Our C++ Code is linted with clang-tidy. Linting helps you analyse your code for potential errors. Clang-tidy will automatically detect the .clang-tidy file to analyse your code. Follow these steps to use clang-tidy:

$ sudo apt-get install clang-tidy # install the clang-tidy package
$ clang-tidy -i <FILEDIR>/*.cpp -- # e.g. to lint all cpp files

Formatting

We use clang-format so that our code is structured uniformly. Clang-format will automatically detect the .clang-format file to format your code. This will ensure that your code complies with our style guide.

Follow these steps to apply clang-formatting:

$ sudo apt-get install clang-format # install the clang-format package
$ clang-format -i <FILEDIR>/*.cpp # e.g. to format all cpp files

Note Replace FILEDIR with the actual folderpath

Even better just use pre-commit in your clone, which will use the provided config to enforce the formatting even before committing locally.

Issue and Pull Request Labels

FAQ