Ryan, Are you running on a Pioneer (or other platform using either the SICK Laser Integration Board [1] or something like it that powers on the LIDAR only when a serial connection is attempted)? As far as this being a known bug, we've seen a number of people in the past have issues with the Sicktoolbox wrapper on systems where the LIDAR doesn't boot until a connection is opened, as the Sicktoolbox seems to be a bit... finicky... about this situation. If you'd like to see this problem fixed, I suggest you open a ticket (if there isn't one that already covers this problem) on the ros-pkg Trac against laser_drivers. That's the best way to make sure that this problem doesn't get forgotten about. However, I think we need a better solution than just always waiting for 30 seconds when the driver boots up (as Aravindhan's fix does), since people with always-on SICKs (my use case) shouldn't need to wait for the SICK to power up if it's already activated. If you do open a ticket, we can continue any further discussion regarding implementation there. - Eric [1] http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board On Thu, Mar 17, 2011 at 5:57 PM, Ryan Miller wrote: > Hello, > > I am having trouble connecting to a SICK LMS 291. I did not have trouble > connecting to the device in cturtle, but I recently upgraded to diamondback > and am now having difficulties. It appears Aravindhan Krishnan found a > solution to this problem, and posted it on ROS answers [0]. However, I would > like to avoid using unstable packages. Is there a way to only install the > sicklms source without getting loads of other unstable dependencies? > > Also, is this a known bug? I could not find anything in the tracker, and if > Krishnan is right about this, it appears to be a serious problem. I have > pasted the output of `rosrun sicktoolbox_wrapper sicklms.` Please let me > know if there is a better solution than hacking the sicklms source. > > I set the baud rate to 38400 and the port to /dev/ttyS0. I know I am using > the correct serial port because when I remove the cable it hangs forever. > The permissions are also set correctly. > ------------- snip ------------- > rmiller@obc:~$ ls -lah /dev/ttyS0 > crw-rw-rw- 1 root dialout 4, 64 2011-03-17 17:36 /dev/ttyS0 > rmiller@obc:~$ groups rmiller > rmiller : rmiller adm dialout cdrom plugdev lpadmin admin sambashare > ------------- snip ------------- > > ------------- snip ------------- > rmiller@obc:/opt/ros/diamondback/stacks/laser_drivers/sicktoolbox_wrapper$ > rosrun sicktoolbox_wrapper sicklms > > *** Attempting to initialize the Sick LMS... > Attempting to open device @ /dev/ttyS0 > Device opened! > Attempting to start buffer monitor... > Buffer monitor started! > Attempting to set requested baud rate... > A Timeout Occurred! 2 tries remaining > A Timeout Occurred! 1 tries remaining > A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max > number of tries w/o success! > Failed to set requested baud rate... > Attempting to detect LMS baud rate... > Checking 19200bps... > A Timeout Occurred! 2 tries remaining > A Timeout Occurred! 1 tries remaining > A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max > number of tries w/o success! > Checking 38400bps... > ERROR: I/O exception - SickBufferMonitor::_readBytes: read() failed! > A Timeout Occurred! 2 tries remaining > ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed! > ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed! > ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed! > ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed! > SickLMS::_testBaudRate: Unknown exception! > ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed! > ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed! > [ERROR] [1300397794.610468157]: Initialize failed! are you using the > correct device path? > terminate called after throwing an instance of > 'SickToolbox::SickThreadException' > Aborted > ------------- snip ------------- > > -Ryan > > [0] - > http://answers.ros.org/question/257/unable-to-get-data-from-sick-laser-on-pioneer > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >