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Hi Eric,<br><br>Many thanks for your advices and ideas. <br><br>As you already stated, whenever I use some other program to obtain the green led on the ROS node for Sicktoolbox Wrapper works without a problem. I have to say that this Pioneer/Sick configuration has to be turned on by activating through software and not only pushing a button.<br><br>I will try using a recursive launch file also.<br><br>Regards,<br><br>Renato.<br><br><br>> Date: Wed, 2 Jun 2010 11:06:53 -0400<br>> From: wisesage5001@gmail.com<br>> To: ros-users@code.ros.org<br>> Subject: Re: [ros-users] Sick requires more initialisation time in 'sicktoolbox_wrapper'<br>> <br>> Renato,<br>> <br>> Are you starting up the Sicktoolbox Wrapper before the LIDAR has<br>> booted and shown a green LED? If so, is there a reason that the node<br>> is booting so quickly and beating the LIDAR.<br>> <br>> Whenever I startup my sicklms node, the LIDAR has had time to<br>> initialize and has the green LED lit. Usually that is the case, as it<br>> takes longer for the ROS PC to boot than for my LMS291 to initialize<br>> when I power on the entire system. As long as I start it with the<br>> green LED lit, I don't really get errors initializing.<br>> <br>> Another option might be to put the sicklms node in a launch file and<br>> it to respawn the node whenever it dies; eventually it should startup<br>> with the LIDAR ready to go.<br>> <br>> - Eric<br>> <br>> On Wed, Jun 2, 2010 at 10:49 AM, Renato Samperio<br>> <mintaka_alnitak@hotmail.com> wrote:<br>> > Hi,<br>> ><br>> > My SICK LMS 200, requires around 25 seconds for being initialised. Currently<br>> > the sicklms node that can be found in sicktoolbox_wrapper (and by following<br>> > the tutorials) generates an error as there is not enough time for showing a<br>> > green led on.<br>> ><br>> > I have been looking around the Sick LIDAR Matlab/C++ Toolbox, and I am not<br>> > sure whether it is a good idea to modify the option<br>> > DEFAULT_SICK_LMS_SICK_MESSAGE_TIMEOUT for increasing the waiting time from<br>> > all sensor messages.<br>> ><br>> > Moreover, I updated the file: `rospack find<br>> > sicktoolbox_wrapper`/ros/sicklms/sicklms.cpp for waiting 20 seconds and call<br>> > again sensor initalisation with something like this:<br>> ><br>> > try{<br>> > sick_lms.Initialize(desired_baud); //desired_baud=38400<br>> > }<br>> > catch (...)<br>> > {<br>> > int time_wait=20;<br>> > if(!sick_lms.IsInitialized()){<br>> > sleep(time_wait);<br>> > sick_lms.Initialize(desired_baud); //desired_baud=38400<br>> > }<br>> ><br>> ><br>> > After doind this the node works. However, does anyone has a better idea of<br>> > how to correct such issue?<br>> ><br>> > Kind regards,<br>> ><br>> > Renato.<br>> ><br>> ><br>> > ________________________________<br>> > Hotmail: Powerful Free email with security by Microsoft. Get it now.<br>> > _______________________________________________<br>> > ros-users mailing list<br>> > ros-users@code.ros.org<br>> > https://code.ros.org/mailman/listinfo/ros-users<br>> ><br>> ><br>> _______________________________________________<br>> ros-users mailing list<br>> ros-users@code.ros.org<br>> https://code.ros.org/mailman/listinfo/ros-users<br> <br /><hr />Hotmail: Free, trusted and rich email service. <a href='https://signup.live.com/signup.aspx?id=60969' target='_new'>Get it now.</a></body>
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