Errors using sicktoolbox_wrapper on Powerbot

asked 2011-12-07 17:37:05 -0500

wkr101
61 ●5 ●7 ●9

updated 2012-03-21 09:37:37 -0500

I'm having an issue using sicktoolbox_wrapper on the MobileRobots Powerbot. I've looked through the related threads but my issue appears to be a bit different. For reference, these are the threads I'm referring to:

1) sicklms failed to initialize!

2) SICK laser driver fails to start after initialization and handshake?

3) Unable to get data from sick laser on Pioneer

The third seems most promising since it appears to be an issue related to MobileRobots and a solution for the Pioneer was found by adding a delay into the source code. I also read the information in the link Abhijit provided regarding the laser integration board.

Since I'm working with the Powerbot, there is in fact a switch on the side of the robot that must be turned on prior to using the laser. I did so and gave it quite a bit of time to warm up, with all the lights green etc. I have experienced the same issue others have addressed in the threads above, however, I'm not always observing the same output. The weird thing is I'm not doing anything different each time. For instance, one attempt will result in an output similar to thread 1) and 3):

usr@powerbot:~$ rosrun sicktoolbox_wrapper sicklms *** Attempting to initialize the Sick LMS... Attempting to open device @ /dev/ttyUSB0

SickLMS::_setTermSpeed: ioctl() failed while trying to get serial port info! NOTE: This is normal when connected via USB! SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info! NOTE: This is normal when connected via USB! 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... SickLMS::_setTermSpeed: ioctl() failed while trying to get serial port info! NOTE: This is normal when connected via USB! SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info! NOTE: This is normal when connected via USB! 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... SickLMS::_setTermSpeed: ioctl() fThe other platform is simply a laptop running Natty and ROS Diamondback. I used an identical laser to that connected to the PowerBot. I attempted this with two different serial-to-USB converters: FTDI FT232R and Prolific PL2303 both with and without a null modem cable. ailed while trying to get serial port info! NOTE: This is normal when connected via USB! SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info! NOTE: This is normal when connected via USB! 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 500Kbps... ERROR: I/O exception - SickLMS::_setTerminalBaud: ioctl() failed! ERROR ...

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answered 2012-03-06 17:02:32 -0500

Eric Perko

8406 ●73 ●90 ●144 http://ericperko.com/

updated 2012-04-05 06:04:37 -0500

Errors related to "missed scans" in the 0.5 degree mode may be related to ticket #4673. Try setting your laser to 1 degree mode and see if the missed scan errors go away.

UPDATE: See the resolution to the ticket. This "missed scans" functionality was removed, as it was not an accurate indication of scans being missed. Diagnostics were added to monitor the publishing rate of the driver.

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Thanks for the feedback. How would I go about changing the degree mode?

wkr101 ( 2012-03-06 17:07:37 -0500 )edit

Set the ~resolution parameter (detailed here: http://www.ros.org/wiki/sicktoolbox_wrapper ) to 1.0 . You'd use a command like rosrun sicktoolbox_wrapper sicklms _resolution:=1.0 .

Eric Perko ( 2012-03-07 07:15:09 -0500 )edit

Thanks. I did in fact try that but alas, no luck on either platform. Still getting the missed scans.

wkr101 ( 2012-03-07 08:34:28 -0500 )edit

See the update to my answer regarding the solution to this problem.

Eric Perko ( 2012-04-05 06:05:00 -0500 )edit

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answered 2012-03-06 16:26:01 -0500

wkr101
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updated 2012-03-06 16:47:10 -0500

I've edited the original question and have determined this isn't a PowerBot specific problem. I've tried implementing this on another platform and have observed the exact same results, which are evidently missed scans.

In all attempts on both platforms, the results are the same. I'm wondering if this thread should be closed / reopened into a different thread since this is not only an issue with the PowerBot?