[ros-users] Ros Node for Sick LMS 100

Tien Thanh nttputus at gmail.com
Tue Mar 1 15:44:07 UTC 2011 

It's not problem any more. I use sick_test.vcg file from
sicktoolbox_wrapper. And it runs perfectly. Thanks all.

On Tue, Mar 1, 2011 at 3:00 PM, Tien Thanh <nttputus at gmail.com> wrote:

> There is no source of transformation for laser frame. Do you have any .vcg
> file available for testing?
>
>
> On Tue, Mar 1, 2011 at 2:47 PM, Konrad Banachowicz <konradb3 at gmail.com>wrote:
>
>> The red light is ok (laser is running in some kind of service mode).
>>
>> Is there any source of transformation for laser frame ? It is required for
>> rviz to work propertly.
>>
>> Pozdrawiam
>> Konrad Banachowicz
>>
>>
>> 2011/3/1 Tien Thanh <nttputus at gmail.com>
>>
>> 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
>>>>>>>
>>>>>>>
>>>>>>> _______________________________________________
>>>>>>> ros-users mailing list
>>>>>>> ros-users at code.ros.org
>>>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>>>>
>>>>>>>
>>>>>>
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>>>>>>
>>>>>
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>>>>>
>>>>
>>>>
>>>> --
>>>> Tien Thanh Nguyen
>>>>
>>>>
>>>
>>>
>>> --
>>> Tien Thanh Nguyen
>>>
>>>
>>
>
>
> --
> Tien Thanh Nguyen
>
>


-- 
Tien Thanh Nguyen
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