[ros-users] Ros Node for Sick LMS 100

Konrad Banachowicz konradb3 at gmail.com
Tue Mar 1 13:47:19 UTC 2011


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
>
>
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