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ROS 2 rviz

Compatible with: LRS4000 multiScan100 multiScan200 picoScan100

Use rviz2 to inspect SICK LiDAR point clouds, laser scans, and coordinate frames from native ROS 2 or sick_scan_xd.

  1. Configure the sensor for ROS 2 output as described in ROS Integration.
  2. Start the ROS 2 middleware and sensor publisher. For native ROS 2, use Cyclone DDS; for sick_scan_xd, start the driver on the host.
  3. Confirm that ROS 2 can see the sensor topics:
ros2 topic list

For native ROS 2, /cloud/all_points is the combined point cloud. A sick_scan_xd launch can use different topic names; select the sensor_msgs/msg/PointCloud2 or sensor_msgs/msg/LaserScan topic shown by ros2 topic list. 4. Launch rviz2 in the same sourced ROS 2 environment:

rviz2
  1. In the left panel, add a display such as:
  2. PointCloud2 for a dense 3D point cloud,
  3. LaserScan for 2D planar output,
  4. TF to verify coordinate frames,
  5. Axes to confirm sensor orientation.
  6. Select the published topic, set the fixed frame, and check the sensor data against the expected field of view.

If the Display Is Empty

Set Reliability Policy to match the publisher when rviz2 reports an incompatible QoS profile. Check that data arrives on the topic:

ros2 topic info --verbose /cloud/all_points
ros2 topic echo --once /cloud/all_points

Replace the topic for a sick_scan_xd launch. If data arrives but rviz2 shows a No transform error, set Fixed Frame to the message's header.frame_id, or publish the required static transform.