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This tutorial explains how to run native ROS 2 on a picoScan150 within a ROS 2 environment.
Related Products
picoScan100
Table of Contents
Preconditions
picoScan150
The used device needs to have a native ROS 2 License activated (License name: PICOSCAN RosConnect). The picoScan150 PRO versions (PN: 1134610 and 1142273) are delivered with this license pre-installed. If you have a picoScan150 without the required license, please get in contact with SICK. Also see: How to activate LiDAR licenses?
Use these commands in your Windows Powershell terminal to read the interface number and to set the interface to "Private". This shows an example for interface 5.
Source ROS 2 (this example can vary from your setup).
Set the ROS Middleware (RMW)
Set the CycloneDDS config file (this example can vary from your setup).
Start rviz2 to show the point cloud
call C:\dev\ros2_humble\local_setup.bat
set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
set CYCLONEDDS_URI=file://%USERPROFILE%/cyclonedds.xml
rviz2
Add a topic from the list and change "Fixed Frame" to world or to the selected settings in the picoScan100 to visualize the point clouds int rviz2.
Topics
There are two ROS data types available (Laserscan, PointCloud2). There are multiple options to receive full scans, scan segments or reflector beams only.
