Hi Eric,

Many thanks for your advices and ideas. 

As you already stated, whenever I use some other program to obtain the green led on the ROS node for Sicktoolbox Wrapper works without a problem. I have to say that this Pioneer/Sick configuration has to be turned on by activating through software and not only pushing a button.

I will try using a recursive launch file also.

Regards,

Renato.


> Date: Wed, 2 Jun 2010 11:06:53 -0400
> From: wisesage5001@gmail.com
> To: ros-users@code.ros.org
> Subject: Re: [ros-users] Sick requires more initialisation time in	'sicktoolbox_wrapper'
> 
> Renato,
> 
> Are you starting up the Sicktoolbox Wrapper before the LIDAR has
> booted and shown a green LED? If so, is there a reason that the node
> is booting so quickly and beating the LIDAR.
> 
> Whenever I startup my sicklms node, the LIDAR has had time to
> initialize and has the green LED lit. Usually that is the case, as it
> takes longer for the ROS PC to boot than for my LMS291 to initialize
> when I power on the entire system. As long as I start it with the
> green LED lit, I don't really get errors initializing.
> 
> Another option might be to put the sicklms node in a launch file and
> it to respawn the node whenever it dies; eventually it should startup
> with the LIDAR ready to go.
> 
> - Eric
> 
> On Wed, Jun 2, 2010 at 10:49 AM, Renato Samperio
> <mintaka_alnitak@hotmail.com> 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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