Starting the Sick LMS laser

First we need to tell ROS how to talk to the laser:

rosparam set sicklms/port /dev/ttyS2
rosparam set sicklms/baud 38400

The robot wills has a laser that behaves differently to the other robots. It must be started up 30 seconds before you want to use it. You can start it by executing the command

exec 3>/dev/ttyS2

When you run that command some LEDs on wills's laser will turn on. Wait until the green one comes on, then continue. To turn the laser off again, you can either log out of that shell or execute the command

exec 3>&-

Once the laser is warmed up, you can start the ROS laser driver with the command:

rosrun sicktoolbox_wrapper sicklms

You can view the laser output on your terminal with the command:

rosrun rviz rviz -d `rospack find sicktoolbox_wrapper`/sick_test.vcg

In the default view, the sensor seems to be positioned at the intersection between the lines second from the left and second from the bottom.

Thanks to the ROS wiki sicktoolbox_wrapper docs.