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Tutorial

SICK Scanners for Multiple receivers and LiDAR-LOC

Article No: KA-09378
Version: 1.2
Subject to change without notice
How to configure scanners to interact with LiDAR-LOC and other applications.
Related Products
CODE-LOC
LiDAR-LOC
Attachments
V1.2_SICK_Scanners_for_Multiple_recievers_and_LiDAR-LOC.pdf

Table of Contents

Overview
 

This guide provides instructions for configuring SICK scanners and the LiDAR-LOC system for mobile robots, covering data transmission types like unicast, broadcast, and multicast. It includes setup guidance for Safety Designer software and troubleshooting network connectivity. Configurations are tailored to various applications, with ROS driver setup instructions for both ROS1 and ROS2, including multicasting modifications. Example cases outline IP and port settings for diverse scenarios, ensuring flexible data flow management. A TCP transmission setup for specific scanner models is also included, making this guide a comprehensive tool for integrating SICK scanners in mobile robotics applications.

 

 

This guide will cover...

  • Introduction and Purpose
    • Guide to configuring SICK scanners and LiDAR-LOC for mobile robot applications.
    • Covers various transmission types: unicast, broadcast, and multicast.
  • Types of Data Transmission
    • Unicasting: One-to-one data transmission
    • Broadcasting: One-to-all on a network
    • Multicasting: One-to-group
  • Safety Designer Overview
    • Instructions for setting up Safety Designer software with SICK sensors.
    • Troubleshooting tips for network connections, including subnet alignment and Windows settings.
  • Data Output Configuration
    • Options for controlling data output: deactivated, on request, and continuous.
    • Configurations to manage data flow to multiple receivers.
  • ROS Driver Configurations
    • Details on configuring launch files for ROS drivers, including sick_lidar_localization, sick_scan_xd and sick_safetyscanners.
    • Examples of ROS1 and ROS2 driver modifications for multicasting compatibility.
  • Example Cases for Different Transmission Types
    • Unicast: Examples of configurations with single or dual-channel scanners.
    • Broadcast: Scenarios where one device serves multiple applications.
    • Multicast: Configurations allowing parallel operation across multiple applications using shared scan data.
    • TCP Transmission Example
  • Details a setup using TCP protocol for specific SICK scanner models
    • Applications and Use Cases

 

Revision Log

- Revision 3 (May 2025): v1.2 published

- Revision 2 (November 2024): v1.2 of setup guide

- Revision 1 (June 2024): v1.0 setup guide

 
Keywords:
LiDAR-LOC, LiDAR LOC, LLS, IPC, pico, picoScan, picoScan150, picoScan150-LOC, unicasting, multicasting, multiple, broadcasting, channel, nanoScan, nS3, microScan, mS3, Safety Designer, ROS, ROS2, driver, network, configuration, launch, sick_lidar_localization, channel 1, channel 2, reuse_addr_opt, UDP, TCP, multicast, broadcast
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