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

[Eric Perko]

Ryan,

Are you running on a Pioneer (or other platform using either the SICK Laser
Integration Board [1] or something like it that powers on the LIDAR only
when a serial connection is attempted)?

As far as this being a known bug, we've seen a number of people in the past
have issues with the Sicktoolbox wrapper on systems where the LIDAR doesn't
boot until a connection is opened, as the Sicktoolbox seems to be a bit...
finicky... about this situation. If you'd like to see this problem fixed, I
suggest you open a ticket (if there isn't one that already covers this
problem) on the ros-pkg Trac against laser_drivers. That's the best way to
make sure that this problem doesn't get forgotten about. However, I think we
need a better solution than just always waiting for 30 seconds when the
driver boots up (as Aravindhan's fix does), since people with always-on
SICKs (my use case) shouldn't need to wait for the SICK to power up if it's
already activated.

If you do open a ticket, we can continue any further discussion regarding
implementation there.

- Eric

[1] http://robots.mobilerobots.com/wiki/SICK_Laser_Integration_Board
On Thu, Mar 17, 2011 at 5:57 PM, Ryan Miller <rmiller4589 at gmail.com> wrote:

> 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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>
>
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