I created ticket https://code.ros.org/trac/ros-pkg/ticket/4138 in
response to this.

The correct answer is that the driver should be able to tolerate the
laser not being up right away or the laser going down for a while.

On Wed, 2010-06-02 at 14:49 +0000, Renato Samperio wrote:
> Hi,
> 
> My SICK LMS 200, requires around 25 seconds for being initialised.
> Currently the sicklms node that can be found in sicktoolbox_wrapper
> (and by following the tutorials) generates an error as there is not
> enough time for showing a green led on.
> 
> I have been looking around the Sick LIDAR Matlab/C++ Toolbox, and I am
> not sure whether it is a good idea to modify the option
> DEFAULT_SICK_LMS_SICK_MESSAGE_TIMEOUT for increasing the waiting time
> from all sensor messages.
> 
> Moreover, I updated the file: `rospack find
> sicktoolbox_wrapper`/ros/sicklms/sicklms.cpp for waiting 20 seconds
> and call again sensor initalisation with something like this:
> 
>     try{
>          sick_lms.Initialize(desired_baud);    //desired_baud=38400
>     }
>     catch (...)
>     {
>         int time_wait=20;
>         if(!sick_lms.IsInitialized()){
>           sleep(time_wait);
>           sick_lms.Initialize(desired_baud);   //desired_baud=38400
>         }
> 
> 
> After doind this the node works. However, does anyone has a better
> idea of how to correct such issue?
> 
> Kind regards,
> 
> Renato.
> 
> 
> 
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