INSTALL-ROS1.md

Build on Linux ROS1

Run the following steps to build sick_scan_xd on Linux with ROS 1:

1. Create a workspace folder, e.g. sick_scan_ws (or any other name):

   mkdir -p ./sick_scan_ws
   cd ./sick_scan_ws
   

2. Clone repositories https://github.com/SICKAG/libsick_ldmrs, https://github.com/SICKAG/msgpack11.git and https://github.com/SICKAG/sick_scan_xd:

   mkdir ./src
   pushd ./src
   git clone https://github.com/SICKAG/libsick_ldmrs.git # only required for LDMRS sensors
   git clone https://github.com/SICKAG/msgpack11.git     # only required for Multiscan136 (sick_scansegment_xd)
   git clone https://github.com/SICKAG/sick_scan_xd.git
   popd
   

3. Build msgpack library (only required once for Multiscan136/sick_scansegment_xd):

   mkdir -p ./build/msgpack11
   pushd ./build/msgpack11
   cmake -G "Unix Makefiles" -D CMAKE_CXX_FLAGS=-fPIC -D CMAKE_BUILD_TYPE=Release -D MSGPACK11_BUILD_TESTS=0 ../../src/msgpack11
   make
   sudo make install
   popd
   

4. Build sick_generic_caller:

   source /opt/ros/noetic/setup.bash # replace noetic by your ros distro
   catkin_make_isolated --install --cmake-args -DROS_VERSION=1
   source ./devel_isolated/setup.bash
   # source ./install_isolated/setup.bash
   

   For ROS versions other than noetic, please replace source /opt/ros/noetic/setup.bash with your ros distribution.

Note: libsick_ldmrs is only required to support LDMRS sensors. If you do not need or want to support LDMRS, you can skip building libsick_ldmrs. To build sick_generic_caller without LDMRS support, switch off option BUILD_WITH_LDMRS_SUPPORT in CMakeLists.txt or call catkin_make_isolated with option -DLDMRS=0:

catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0

Note: msgpack is only required to support Multiscan136/sick_scansegment_xd. If you do not need or want to support Multiscan136/sick_scansegment_xd, you can skip building msgpack. To build sick_generic_caller without Multiscan136/sick_scansegment_xd support, switch off option BUILD_WITH_SCANSEGMENT_XD_SUPPORT in CMakeLists.txt or call cmake with option -DSCANSEGMENT_XD=0:

catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DSCANSEGMENT_XD=0

cmake flags can be combined. Use flags -DLDMRS=0 -DSCANSEGMENT_XD=0 to build without LDMRS and scansegment_xd support:

catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -DSCANSEGMENT_XD=0

Note: To create source code documentation by doxygen, run

cd ./doxygen
doxygen ./docs/Doxyfile