Hi Rishi,<div><br></div><div>The output you are seeing from the sicktoolbox seems to indicate that it cannot communicate with your Sick at all. The normal initialization process is something like detect what baud rate the Sick is currently at and then set it to the baud rate you asked for. In this case, the driver is unable to detect what baud rate the Sick is currently operating at. I&#39;ve seen this happen often whenever the driver is started before the Sick is ready (only a green light lit on my 291&#39;s). You could also try some of the other supported baud rates to see if one of those works. Also, keep in mind that, at least on the LMS291s that I have worked with, you have to use 500Kbaud RS422 in order to receive the maximum amount of data from the LIDAR unit.</div>
<div><br></div><div>Have you confirmed that /dev/ttyS0 is actually the correct port? Do you have to configure the serial port outside of the driver at all? (I&#39;ve never used a physical serial port, all of my LIDAR communication is done with RS422-USB adapters, so I end up with /dev/ttyUSBx paths).</div>
<div><br></div><div>When using a serial cable on the 291, we ran into issues with using a cable wired for the RS422 protocol with a RS232 serial port and vice-versa. Can you confirm that the serial cable is wired properly for the serial protocol you want to be using and that the computer&#39;s serial port supports that protocol and baud rate?</div>
<div><br></div><div>- Eric</div><div><br><div class="gmail_quote">On Thu, Jul 15, 2010 at 12:25 PM, Rishi Bedi <span dir="ltr">&lt;<a href="mailto:rbedi100@gmail.com">rbedi100@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi,<br>I&#39;m trying to use the sicktoolbox_wrapper stack with a SICK 
LMS200 laser rangefinder (connected over serial; port /dev/ttyS0). I set
 the permissions as described here (<a href="http://www.ros.org/wiki/sicktoolbox_wrapper/Tutorials/UsingTheSicklms" target="_blank">http://www.ros.org/wiki/sicktoolbox_wrapper/Tutorials/UsingTheSicklms</a>)
 -- it shows: &quot;crw-rw-rw- 1 root dialout 4, 64 2010-07-13 11:36 
/dev/ttyS0&quot;. However, I get an error when I run the following:<br>
<br>rishi@rishi-portable:~$ rosrun sicktoolbox_wrapper sicklms 
_port:=/dev/ttyS0 _baud:=38400<br><br>The error:<br><br>    *** 
Attempting to initialize the Sick LMS...<br>    Attempting to open 
device @ /dev/ttyS0<br>        Device opened!<br>
    Attempting to start buffer monitor...<br>        Buffer monitor 
started!<br>    Attempting to set requested baud rate...<br>A Timeout 
Occurred!  2 tries remaining<br>A Timeout Occurred!  1 tries remaining<br>A
 Timeout Occurred - SickLIDAR::_<div>sendMessageAndGetReply: Attempted 
max number of tries w/o success!<br>
    Failed to set requested baud rate...<br>    Attempting to detect LMS
 baud rate...<br>        Checking 19200bps...<br>A Timeout Occurred!  2 
tries remaining<br>A Timeout Occurred!  1 tries remaining<br>A Timeout 
Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number
 of tries w/o success!<br>
        Checking 38400bps...<br>A Timeout Occurred!  2 tries remaining<br>A
 Timeout Occurred!  1 tries remaining<br>A Timeout Occurred - 
SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries 
w/o success!<br>        Checking 500Kbps...<br>
A Timeout Occurred!  2 tries remaining<br>A Timeout Occurred!  1 tries 
remaining<br>A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply:
 Attempted max number of tries w/o success!<br>ERROR: I/O exception - 
SickLMS::Initialize: failed to detect baud rate!<br>
[ERROR] [1279035417.096500632]: Initialise failed! are you using the 
correct device path?<br>[ERROR] [1279035417.096682835]: woah! error!<br><br>It
 seems the issue is the baud rate, but I set it manually in my rosrun 
command -- any ideas?<br>
Thanks!<br>Rishi<br><br></div><br clear="all">Rishi Bedi<br><a href="mailto:rbedi100@gmail.com" target="_blank">rbedi100@gmail.com</a><br>
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<br></blockquote></div><br></div>