ROS2 driver for µ-Epsilon ScanControl Sensors

SCANCONTROL_LLS_driver is a ROS2 node designed to interface with laser line scanners (LLS) manufactured by micro-epsilon GmbH.

To avoid having to use meson to build the sensor SDK, a cmake file is provided.

A dockerfile for a build container is provided.

Building

The vendored SDK is not committed (ext/ is git-ignored). Fetch it first, then build:

./get_sdk.sh                 # downloads + patches the scanCONTROL SDK into ext/
colcon build                 # build the workspace

get_sdk.sh must be run before colcon build (and before building the Docker image) - otherwise find_package(libllt) / find_package(libmescan) will fail.

Packages

• scancontrol_lls_driver: The package containing the lls_driver node
• scancontrol_lls_msgs: The package containing the message definitions to talk to the driver node