Interfacing laser scanners with ROS

Now that we've discussed the simulation of the laser scanner, let's see how to interface real sensors with ROS.

Here are some links to guide you with setting up Hokuyo and SICK laser scanners in ROS. The complete installation instructions are available at the following links:

You can install Hokuyo drivers from source packages by cloning the following package into your workspace:

  • For 2D Hokuyo sensors, clone the following:
$ git clone https://github.com/ros-drivers/hokuyo_node.git
$ cd ~/workspace_ws
$ catkin_make
  • For 3D Hokuyo sensors, clone the following:
$ git clone https://github.com/at-wat/hokuyo3d.git
$ cd ~/workspace_ws
$ catkin_make

For SICK laser scanners, installation can be done directly using binary packages:

$ sudo apt-get install ros-melodic-sick-tim ros-melodic-lms1xx

In the next section, we will simulate stereo and mono cameras in Gazebo.

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