charlie-x / sweep-ros

Scanse Sweep ROS Driver and Node

sweep-ros

Dependencies

The Sweep ROS Driver and Node requires that the libsweep library from the sweep-sdk be installed on the computer.

See the libsweep README for full installation instructions, or follow the brief guide below:

# clone the sweep-sdk repository
git clone https://github.com/scanse/sweep-sdk

# enter the libsweep directory
cd sweep-sdk/libsweep

# create and enter a build directory
mkdir -p build
cd build

# build and install the libsweep library
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build .
sudo cmake --build . --target install
sudo ldconfig

Scanse Sweep ROS Driver and Node

This node is currently publishing a pointcloud2 msg. This is because the Sweep device does not use fixed azimuth intervals. For more details see the Sweep theory of operation. Use sweep2scan.launch for conversion to laserscan msg.

Firmware Compatibility:

Currently, sweep-ros is only compatible with sweep firmware v1.1 or greater.

You can check the firmware version installed on your sweep device by using a serial terminal (see manual) or more easily using the sweep visualizer (see instructions).