We used the sick_scan_xd repo to handle the lidar. It has good instructions on how to install and build on the our VMs & Robot PC. We will want to install this in it's own directory and not within the Snowplow2024 workspace. (I recommend ~/sick_scan_ws).
Last year Nate built a script that would build everything (ROS, Snowplow2023, SICK) which is useful when setting up the robot for the first time. We will want to build the sick_scan_xd with the following command and options.
cd ~/sick_scan_ws
colcon build --packages-select sick_scan --cmake-args " -DROS_VERSION=2" " -DLDMRS=0" " -DSCANSEGMENT_XD=0" --event-handlers console_direct+
source ~/sick_scan_ws/install/setup.bash
Nate also created a launch file to test the LIDAR. After launch the node you only need to wait a few seconds for the LIDAR to start up and then open RVIZ and select the node and data to view and see the LIDAR data in real-time.
We used the sick_scan_xd repo to handle the lidar. It has good instructions on how to install and build on the our VMs & Robot PC. We will want to install this in it's own directory and not within the Snowplow2024 workspace. (I recommend ~/sick_scan_ws).
Last year Nate built a script that would build everything (ROS, Snowplow2023, SICK) which is useful when setting up the robot for the first time. We will want to build the sick_scan_xd with the following command and options.
Nate also created a launch file to test the LIDAR. After launch the node you only need to wait a few seconds for the LIDAR to start up and then open RVIZ and select the node and data to view and see the LIDAR data in real-time.