[ros-users] SICKLMS 200 Error

[Eric Perko]

Hi Rishi,

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've seen this
happen often whenever the driver is started before the Sick is ready (only a
green light lit on my 291'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.

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'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).

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's serial port supports that
protocol and baud rate?

- Eric

On Thu, Jul 15, 2010 at 12:25 PM, Rishi Bedi <rbedi100 at gmail.com> wrote:

> Hi,
> I'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 (
> http://www.ros.org/wiki/sicktoolbox_wrapper/Tutorials/UsingTheSicklms) --
> it shows: "crw-rw-rw- 1 root dialout 4, 64 2010-07-13 11:36 /dev/ttyS0".
> However, I get an error when I run the following:
>
> rishi at rishi-portable:~$ rosrun sicktoolbox_wrapper sicklms
> _port:=/dev/ttyS0 _baud:=38400
>
> The error:
>
>     *** 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...
> 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 500Kbps...
> 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!
> ERROR: I/O exception - SickLMS::Initialize: failed to detect baud rate!
> [ERROR] [1279035417.096500632]: Initialise failed! are you using the
> correct device path?
> [ERROR] [1279035417.096682835]: woah! error!
>
> It seems the issue is the baud rate, but I set it manually in my rosrun
> command -- any ideas?
> Thanks!
> Rishi
>
>
> Rishi Bedi
> rbedi100 at gmail.com
>
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