[ros-users] Trouble connecting to SICK LMS 291 with sicktoolbox_wrapper

[Ryan Miller]

Hello,

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?

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.

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

------------- snip -------------
rmiller at obc:/opt/ros/diamondback/stacks/laser_drivers/sicktoolbox_wrapper$
rosrun sicktoolbox_wrapper sicklms

*** 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...
ERROR: I/O exception - SickBufferMonitor::_readBytes: read() failed!
A Timeout Occurred!  2 tries remaining
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
SickLMS::_testBaudRate: Unknown exception!
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
[ERROR] [1300397794.610468157]: Initialize failed! are you using the correct
device path?
terminate called after throwing an instance of
'SickToolbox::SickThreadException'
Aborted
------------- snip -------------

-Ryan

[0] -
http://answers.ros.org/question/257/unable-to-get-data-from-sick-laser-on-pioneer
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