Hi Vinay,

I believe that URG-04LX comes in multiple versions. I know that there
are ones that do SCIP 2.0. I have one on my desk that defaults to SCIP
1.0, but that you can switch to 2.0 by sending a command. I suspect (but
do not know) that there may be older ones that only do SCIP 1.0.

I just had a quick look at the SCIP 1.0 spec
http://www.hokuyo-aut.jp/02sensor/07scanner/download/data/URG_SCIP11.pdf
and it looks like the command to get the firmware is just "V" instead of
"VV". Could you try redoing the picocom test and just typing V and then
return?

I think that player actually supports SCIP 1.0, so that could explain
why this works with player. Unfortunately the ROS hokuyo_node does not
support SCIP 1.0.

You should be able to upgrade your firmware by contacting Hokuyo if you
want your laser to be able to talk SCIP 2.0.

Cheers,
Blaise

On Fri, 2010-06-25 at 17:56 -0700, Vinay K wrote:
> Hi Blaise,
> 
> Hokuyo model is : URG-04LX. I installed picocom, but after executing
>  $ picocom /dev/ttyACM0
>  ...........................................
> Terminal ready
> 
> Now if I type VV [or vv] it reply with "C" . So don't know what the
> firmware version is. from URG-04LX specifications it seems that it
> follows SCIP version 2.
> 
> I have tested laser with player program and its working. Because of
> modularity and distributed system I switched to ROS and just trying to
> make an interface with powerbot [Pioneer]. I have tested p2os node
> [from USC] and found it working. Expecting your help in this regards.
> 
> Vinay
> 
> On Fri, Jun 25, 2010 at 12:23 AM, Vinay K <vinay.csir@gmail.com>
> wrote:
>         Hi,
>         
>         I was trying to run hokuyo_node to test my hokuyo laser. below
>         is the error while execution...., I have set /dev/ttyACM0 port
>         and also permission to access ttyACM0. Getting this error and
>         also checked the troubleshooting. Seems that I am missing
>         something very trivial. Help from your side 'll be greatly
>         appreciated.
>         .......................................Error......................................................
>         vros@powerbot:~$ rosrun hokuyo_node hokuyo_node 
>         [ERROR] 1277434561.027264000: Exception thrown while opening
>         Hokuyo.
>         Checksum failed on status code. (in hokuyo::laser::sendCmd)
>         You may find further details at
>         http://www.ros.org/wiki/hokuyo_node/Troubleshooting
>         .................................................................................................
>         
>         Thanks,
>         
>         Vinay
>         
> 
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