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Version: ROS 2 Humble

SICK LMS-111

Item Numbers​

DescriptionCPR ItemSales KitInstallation Kit, With Fasteners
SICK LMS111-10100 sensor006387027657027656

Specifications​

DescriptionValue
Mass1.1 kg
Voltage, Minimum10.8 V
Voltage, Maximum30 V
Voltage, Sensor24 V
Power, Average8 W
DataEthernet, 100 Mbit/s
Range, Minimum0.5 m
Range, Maximum20 m
Range, Accuracy±3 cm
View, Horizontal270 °
Resolution, Horizontal0.25 °
Operating Temperature, Min-30 °C
Operating Temperature, Max50 °C

Software Bringup​

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

lidar2d:
  - model: sick_lms1xx
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      lms1xx:
        frame_id: lidar2d_0_laser
        host: 192.168.131.20
        port: 2111

Package and Setup​

The SICK LMS1xx laser scan uses the lms1xx ROS 2 package. The driver is open source, maintained by Clearpath, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system launches the lms1xx driver, see the SICK LMS1xx launch file and the default parameter file in clearpath_sensors.

Troubleshooting​

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

Further Reading​

  1. Clearpath Robotics Store
  2. Datasheet
  3. User Manual
  4. SICK website
  5. ROS webpage
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