From ros-users-bounces@code.ros.org Fri Mar 18 20:35:48 2011 Return-Path: X-Original-To: www-data@code.ros.org Delivered-To: www-data@code.ros.org Received: from pub5.willowgarage.com (localhost [127.0.0.1]) by pub5.willowgarage.com (Postfix) with ESMTP id CCE7425C499; Fri, 18 Mar 2011 20:35:48 -0700 (PDT) X-Original-To: ros-users@code.ros.org Delivered-To: ros-users@code.ros.org Received: from mail-qy0-f181.google.com (mail-qy0-f181.google.com [209.85.216.181]) by pub5.willowgarage.com (Postfix) with ESMTPS id 39FD425C038 for ; Fri, 18 Mar 2011 20:35:47 -0700 (PDT) Received: by qyg14 with SMTP id 14so3822671qyg.5 for ; Fri, 18 Mar 2011 20:35:46 -0700 (PDT) MIME-Version: 1.0 Received: by 10.229.100.234 with SMTP id z42mr1585970qcn.250.1300505745442; Fri, 18 Mar 2011 20:35:45 -0700 (PDT) Received: by 10.229.11.70 with HTTP; Fri, 18 Mar 2011 20:35:45 -0700 (PDT) In-Reply-To: References: Date: Fri, 18 Mar 2011 23:35:45 -0400 Message-ID: From: Ryan Miller To: Eric Perko Cc: User discussions Subject: Re: [ros-users] Trouble connecting to SICK LMS 291 with sicktoolbox_wrapper X-BeenThere: ros-users@code.ros.org X-Mailman-Version: 2.1.9 Precedence: list Reply-To: User discussions List-Id: User discussions List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Content-Type: multipart/mixed; boundary="===============0867660164228538847==" Mime-version: 1.0 Sender: ros-users-bounces@code.ros.org Errors-To: ros-users-bounces@code.ros.org --===============0867660164228538847== Content-Type: multipart/alternative; boundary=0016364ee11cfc496d049ecd961d --0016364ee11cfc496d049ecd961d Content-Type: text/plain; charset=ISO-8859-1 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 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 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@obc:~$ ls -lah /dev/ttyS0 >> crw-rw-rw- 1 root dialout 4, 64 2011-03-17 17:36 /dev/ttyS0 >> rmiller@obc:~$ groups rmiller >> rmiller : rmiller adm dialout cdrom plugdev lpadmin admin sambashare >> ------------- snip ------------- >> >> ------------- snip ------------- >> rmiller@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 >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > --0016364ee11cfc496d049ecd961d Content-Type: text/html; charset=ISO-8859-1 Content-Transfer-Encoding: quoted-printable To answer your question, the LIDAR is always powered. However, I was able t= o 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 t= o 10.04, the LIDAR worked. I am still unsure of what was specifically cause= s this problem, but I am now convinced it is unrelated to the sicktoolbox_w= rapper package.

-Ryan

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

Are you running on a Pioneer (or other platform us= ing either the=A0SICK 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 numb= er of people in the past have issues with the Sicktoolbox wrapper on system= s where the LIDAR doesn't boot until a connection is opened, as the Sic= ktoolbox 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&= #39;t one that already covers this problem) on the ros-pkg Trac against las= er_drivers. That's the best way to make sure that this problem doesn= 9;t get forgotten about. However, I think we need a better solution than ju= st always waiting for 30 seconds when the driver boots up (as Aravindhan= 9;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 di= scussion regarding implementation there.

- Eric

[1]=A0http://robots.mobilerobots= .com/wiki/SICK_Laser_Integration_Board
On T= hu, Mar 17, 2011 at 5:57 PM, Ryan Miller <rmiller4589@gmail.com>= ; wrote:
Hello,

I am having trouble connecting to a SI= CK 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 appe= ars 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 ot= her 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 serio= us problem. I have pasted the output of `rosrun sicktoolbox_wrapper sicklms= .` Please let me know if there is a better solution than hacking the sicklm= s 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@obc:~$ ls -lah /dev/ttyS0
crw-rw-rw- 1 root dialout = 4, 64 2011-03-17 17:36 /dev/ttyS0
rmiller@obc:~$ groups rmiller
rmiller : rmiller adm dialout cdrom plugdev lpadmin admin sambasha= re
------------- snip -------------

------------= - snip -------------
rmiller@obc:/opt/ros/diamondback/stacks/lase= r_drivers/sicktoolbox_wrapper$ rosrun sicktoolbox_wrapper sicklms=A0

*** Attemp= ting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyS0
Device opened!
Attempting to start buffer mo= nitor...
Buffer mon= itor started!
Attempting to set request= ed baud rate...
A Timeout Occurred! =A02 tries remaining
A Timeout Occurred! =A01 tries remaining
A Timeout Occurred - S= ickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o succes= s!
Failed to set requested b= aud rate...
Attempti= ng to detect LMS baud rate...
Checking 19200bps...
A Timeout Occurred! =A02 tries remaining
A Timeout Occurred! = =A01 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessage= AndGetReply: Attempted max number of tries w/o success!
Checking 38400bps...
ERROR: I/O exception - SickBufferMonitor::_readBytes: read() failed!=
A Timeout Occurred! =A02 tries remaining
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
<= div>ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
ERROR: I/O exception - SickLIDAR::_sendMessage: write() failed!
<= div>SickLMS::_testBaudRate: Unknown exception!
ERROR: I/O excepti= on - SickLIDAR::_sendMessage: write() failed!
ERROR: I/O exceptio= n - SickLIDAR::_sendMessage: write() failed!
[ERROR] [1300397794.610468157]: Initialize failed! are you using the c= orrect device path?
terminate called after throwing an instance o= f 'SickToolbox::SickThreadException'
Aborted
------------- snip -------------

-Ryan
<= br>


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