Ryan,<div><br></div><div>Are you running on a Pioneer (or other platform using either the <meta http-equiv="content-type" content="text/html; charset=utf-8">SICK Laser Integration Board [1] or something like it that powers on the LIDAR only when a serial connection is attempted)?</div>
<div><br></div><div>As far as this being a known bug, we&#39;ve seen a number of people in the past have issues with the Sicktoolbox wrapper on systems where the LIDAR doesn&#39;t boot until a connection is opened, as the Sicktoolbox seems to be a bit... finicky... about this situation. If you&#39;d like to see this problem fixed, I suggest you open a ticket (if there isn&#39;t one that already covers this problem) on the ros-pkg Trac against laser_drivers. That&#39;s the best way to make sure that this problem doesn&#39;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&#39;s fix does), since people with always-on SICKs (my use case) shouldn&#39;t need to wait for the SICK to power up if it&#39;s already activated.</div>
<div><br></div><div>If you do open a ticket, we can continue any further discussion regarding implementation there.</div><div><br></div><div>- Eric</div><div><br></div><div>[1] <meta http-equiv="content-type" content="text/html; charset=utf-8"><a href="http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board">http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board</a><br>
<div><div><div class="gmail_quote">On Thu, Mar 17, 2011 at 5:57 PM, Ryan Miller <span dir="ltr">&lt;<a href="mailto:rmiller4589@gmail.com">rmiller4589@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;">
<div>Hello,</div><div><br></div><div>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?</div>

<div><br></div><div>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.</div>

<div><br></div><div>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.</div><div>------------- snip -------------</div>

<div>rmiller@obc:~$ ls -lah /dev/ttyS0</div><div>crw-rw-rw- 1 root dialout 4, 64 2011-03-17 17:36 /dev/ttyS0</div><div>rmiller@obc:~$ groups rmiller</div><div>rmiller : rmiller adm dialout cdrom plugdev lpadmin admin sambashare</div>

<div>------------- snip -------------</div><div><br></div><div>------------- snip -------------</div><div>rmiller@obc:/opt/ros/diamondback/stacks/laser_drivers/sicktoolbox_wrapper$ rosrun sicktoolbox_wrapper sicklms </div>

<div><br></div><div><span style="white-space:pre-wrap">	</span>*** Attempting to initialize the Sick LMS...</div><div><span style="white-space:pre-wrap">	</span>Attempting to open device @ /dev/ttyS0</div>
<div><span style="white-space:pre-wrap">		</span>Device opened!</div><div><span style="white-space:pre-wrap">	</span>Attempting to start buffer monitor...</div><div><span style="white-space:pre-wrap">		</span>Buffer monitor started!</div>

<div><span style="white-space:pre-wrap">	</span>Attempting to set requested baud rate...</div><div>A Timeout Occurred!  2 tries remaining</div><div>A Timeout Occurred!  1 tries remaining</div><div>A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!</div>

<div><span style="white-space:pre-wrap">	</span>Failed to set requested baud rate...</div><div><span style="white-space:pre-wrap">	</span>Attempting to detect LMS baud rate...</div><div>
<span style="white-space:pre-wrap">		</span>Checking 19200bps...</div><div>A Timeout Occurred!  2 tries remaining</div><div>A Timeout Occurred!  1 tries remaining</div><div>A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!</div>

<div><span style="white-space:pre-wrap">		</span>Checking 38400bps...</div><div>ERROR: I/O exception - SickBufferMonitor::_readBytes: read() failed!</div><div>A Timeout Occurred!  2 tries remaining</div>
<div>ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!</div><div>ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!</div><div>ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!</div>

<div>ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!</div><div>SickLMS::_testBaudRate: Unknown exception!</div><div>ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!</div><div>ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!</div>

<div>[ERROR] [1300397794.610468157]: Initialize failed! are you using the correct device path?</div><div>terminate called after throwing an instance of &#39;SickToolbox::SickThreadException&#39;</div><div>Aborted</div><div>

------------- snip -------------</div><div><br></div><div>-Ryan</div><div><br></div><div>[0] - <a href="http://answers.ros.org/question/257/unable-to-get-data-from-sick-laser-on-pioneer" target="_blank">http://answers.ros.org/question/257/unable-to-get-data-from-sick-laser-on-pioneer</a></div>

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<br></blockquote></div><br></div></div></div>