SICK safeVisionary ROS 2

This is the official ROS 2 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-dev

Build and install

Switch to the src folder of your current ROS 2 workspace and

git clone https://github.com/SICKAG/sick_safevisionary_ros2.git
git clone https://github.com/SICKAG/sick_safevisionary_base.git
rosdep install --from-paths ./ --ignore-src -y
cd ..
colcon build --packages-select sick_safevisionary_base sick_safevisionary_interfaces sick_safevisionary_driver  --cmake-args -DCMAKE_BUILD_TYPE=Release

Getting started

Each camera must be configured once. The setup is explained here. In a sourced terminal, start the driver with

ros2 launch sick_safevisionary_driver driver_node.launch.py

You can list the relevant topics with

ros2 topic list | grep sick_safevisionary

This driver implements a lifecycle node which automatically transitions into the active state on bootup. The state can also be manually changed for example from an unconfigured state to an active, publishing state using two additional steps on the command line. Open another sourced terminal and call

ros2 lifecycle set /sick_safevisionary configure
ros2 lifecycle set /sick_safevisionary activate

Here's more information about driver's lifecycle behavior.