[ros-users] Ros Node for Sick LMS 100

Tue Mar 1 13:39:18 UTC 2011

Finally I can connect to my LMS111, all I do is I change the IP of my PC so
that PC can find my laser scanner. For example my PC IP address is
169.254.250.1 and laser scanner address is 169.254.250.176. And this is a
output when I execute rosrun LMS1xx LMS100

tienthanh at tienthanh-pc:~$ rosrun LMS1xx LMS100
[ INFO] [1298985619.706064737]: connecting to laser at : 169.254.250.176
[ INFO] [1298985619.706668553]: Connected to laser.

But after connect to laser, in laser scanner the red light turns on. I'm not
sure if it is OK because I see nothing when run rvix an connect the topic
/scan in rviz. And I got this warning:

[ WARN] [1298985702.091940199]: Message from [/lms1xx] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
will likely not work in multi-robot systems.  This message will only print
once.
[ WARN] [1298985710.807864998]: Message from [/lms1xx] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
will likely not work in multi-robot systems.  This message will only print
once.
[ WARN] [1298985716.887906587]: MessageFilter [target=/pgraph ]: Dropped
98.61% of messages so far. Please turn the [ros.rviz.message_notifier]
rosconsole logger to DEBUG for more information.

I think the problem comes from the configuration of rviz, anyone have idea
to solve it?

On Mon, Feb 28, 2011 at 11:46 PM, Tien Thanh <nttputus at gmail.com> wrote:

>
>
>>> I am using this with static address assigned (192.168.1.2) it's look like
>>> you are using it with some kind of "automatic address".
>>>
>>
> I thought so. I took the IP from SOPAS software in windows. I guess that
> automatic address created by windows. Should I edit IP address for laser
> scanner manually (to 192.168.1.2?) in SOPAS before connect it to ROS?
> Otherwise Linux can't find the IP address of laser scanner automatically.
>
>
>
>> That "automatic address" looks suspiciously like what you get when a
>> computer is configured to use DHCP but there is no DHCP server available, so
>> it defaults to something like that. Is the laser configured to use DHCP to
>> get it's address but there are no DHCP servers available on the same LAN as
>> it?
>>
>> - Eric
>>
>>
>>>
>>> Are you using latest version from :
>>> https://github.com/RCPRG-ros-pkg/RCPRG_laser_drivers  ?
>>>
>>> Pozdrawiam
>>> Konrad Banachowicz
>>>
>>>
>>> 2011/2/28 Tien Thanh <nttputus at gmail.com>
>>>
>>>>  After modifier network connection, I can ping the address of the laser
>>>> scanner.
>>>>
>>>> tienthanh at tienthanh-pc:~$ ping 169.254.193.164
>>>> PING 169.254.193.164 (169.254.193.164) 56(84) bytes of data.
>>>>  64 bytes from 169.254.193.164: icmp_seq=1 ttl=64 time=0.025 ms
>>>> 64 bytes from 169.254.193.164: icmp_seq=2 ttl=64 time=0.025 ms
>>>>  64 bytes from 169.254.193.164: icmp_seq=3 ttl=64 time=0.027 ms
>>>> 64 bytes from 169.254.193.164: icmp_seq=4 ttl=64 time=0.027 ms
>>>> 64 bytes from 169.254.193.164: icmp_seq=5 ttl=64 time=0.027 ms
>>>>  64 bytes from 169.254.193.164: icmp_seq=6 ttl=64 time=0.028 ms
>>>> 64 bytes from 169.254.193.164: icmp_seq=7 ttl=64 time=0.027 ms
>>>>  64 bytes from 169.254.193.164: icmp_seq=8 ttl=64 time=0.028 ms
>>>> 64 bytes from 169.254.193.164: icmp_seq=9 ttl=64 time=0.027 ms
>>>> 64 bytes from 169.254.193.164: icmp_seq=10 ttl=64 time=0.028 ms
>>>> 64 bytes from 169.254.193.164: icmp_seq=11 ttl=64 time=0.027 ms
>>>> ^C
>>>> --- 169.254.193.164 ping statistics ---
>>>> 11 packets transmitted, 11 received, 0% packet loss, time 9998ms
>>>> rtt min/avg/max/mdev = 0.025/0.026/0.028/0.007 ms
>>>>
>>>> But I still got the error when run LMS100
>>>> tienthanh at tienthanh-pc:~$ rosrun LMS1xx LMS100
>>>> [ INFO] [1298911023.270612023]: connecting to laser at : 169.254.193.164
>>>> [ERROR] [1298911023.270972132]: Connection to device failed
>>>>
>>>>
>>>> On Mon, Feb 28, 2011 at 3:39 PM, Tien Thanh <nttputus at gmail.com> wrote:
>>>>
>>>>> Hi,
>>>>>
>>>>> Thanks, I got ID address of LMS111 from SOPAS software is
>>>>> 169.254.193.164. But I can't ping it after connect it to my PC
>>>>> tienthanh at tienthanh-pc:~$ ping 169.254.193.164
>>>>> PING 169.254.193.164 (169.254.193.164) 56(84) bytes of data.
>>>>> ^C
>>>>> --- 169.254.193.164 ping statistics ---
>>>>> 57 packets transmitted, 0 received, 100% packet loss, time 56079ms
>>>>>
>>>>> Of course, it can not connect to ROS
>>>>> tienthanh at tienthanh-pc:~$ rosrun LMS1xx LMS100
>>>>> [ INFO] [1298902851.829334744]: connecting to laser at :
>>>>> 169.254.193.164
>>>>> [ERROR] [1298902872.821389656]: Connection to device failed
>>>>>
>>>>> I don't think there is any problem with a laser scanner (it works with
>>>>> Labview in Window). And I have no idea why it not works in ROS
>>>>>
>>>>> Cheers,
>>>>>
>>>>>
>>>>>
>>>>> On Mon, Feb 28, 2011 at 11:59 AM, Jochen Sprickerhof <
>>>>> ros-users at jochen.sprickerhof.de> wrote:
>>>>>
>>>>>> * Tien Thanh <nttputus at gmail.com> [2011-02-28 11:44]:
>>>>>> > Hi,
>>>>>>
>>>>>> Hi,
>>>>>>
>>>>>> > After connect laser scanner, I can ping it, and this is my ifconfig
>>>>>> > tienthanh at tienthanh-pc:~$ ifconfig
>>>>>> > eth0      Link encap:Ethernet  HWaddr e0:cb:4e:da:d2:71
>>>>>> >           inet addr:10.33.107.93  Bcast:10.33.107.255
>>>>>>  Mask:255.255.252.0
>>>>>> >           inet6 addr: fe80::e2cb:4eff:feda:d271/64 Scope:Link
>>>>>> >           UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
>>>>>> >           RX packets:235218 errors:0 dropped:0 overruns:0 frame:0
>>>>>> >           TX packets:28801 errors:0 dropped:0 overruns:0 carrier:0
>>>>>> >           collisions:0 txqueuelen:1000
>>>>>> >           RX bytes:91400508 (91.4 MB)  TX bytes:3659091 (3.6 MB)
>>>>>> >           Interrupt:28 Base address:0x6000
>>>>>> >
>>>>>> > I set the IP: rosparam set /LMS1xx/host 10.33.107.93
>>>>>>
>>>>>> you have to use the IP of the LMS100, not the one of your host ;)
>>>>>>
>>>>>> Cheers,
>>>>>>
>>>>>> Jochen
>>>>>>
>>>>>
>>>>>
>>>>>
>>>>> --
>>>>> Tien Thanh Nguyen
>>>>> Erasmus Mundus Master Program
>>>>> EU4M - European Union Master in Mechatronics and Micro-mechatronics
>>>>> systems
>>>>> Hochschule Karlsruhe Technik und Wirtschaft - Germany
>>>>> Ecole Nationale Superieure de Mecanique et de Microtechniques de
>>>>> Besancon - France
>>>>> Phone-mobile : +32.(0)499239087
>>>>> http://www.eu4m.eu
>>>>>
>>>>
>>>>
>>>>
>>>> --
>>>> Tien Thanh Nguyen
>>>>
>>>>
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>>>>
>>>>
>>>
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>>
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>>
>
>
> --
> Tien Thanh Nguyen
>
>

-- 
Tien Thanh Nguyen
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