[ros-users] Sick requires more initialisation time in 'sicktoolbox_wrapper'

[Eric Perko]

Renato,

So the Sick doesn't automatically power up when the robot is turned
on? You have to actually give it power using a software command? If
so, would it be more appropriate to pause after turning on all of your
sensors and systems than to just wait for the Sick?

Why were you going to use a recursive launch file? Having a launch
file launch itself seems like a bad idea :) . See
http://www.ros.org/wiki/roslaunch/XML/node for how to set a node to
respawn automatically.

- Eric

On Wed, Jun 2, 2010 at 11:24 AM, Renato Samperio
<mintaka_alnitak at hotmail.com> wrote:
> 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 at gmail.com
>> To: ros-users at 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 at 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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