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

[Ryan Miller]

To answer your question, the LIDAR is always powered. However, I was able to
narrow the problem down to Ubuntu. I figured out that the LIDAR worked on my
10.04 box, but failed on my 10.10 box. After downgrading the computer to
10.04, the LIDAR worked. I am still unsure of what was specifically causes
this problem, but I am now convinced it is unrelated to the
sicktoolbox_wrapper package.

-Ryan

On Thu, Mar 17, 2011 at 10:52 PM, Eric Perko <wisesage5001 at gmail.com> wrote:

> 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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