Sick LMS 200 not working with MobileSim

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Hi!!,

I have installed ros jade in Ubuntu 14.04. I could successfully install the ROSARIA library in the catkin workspace. Then MobileSim, the simulator platform for ARIA was installed to test the functionality of the ROSARIA library. We found that the laser range finder (LRF) of the robot p3-dx, did not start when the robot was started using the command rosrun rosaria RosAria in simulated environment i.e., MobileSim. Then to use the LRF of the robot, the package sicktoolbox_wrapper was installed. Then we followed the steps suggested in the link http://wiki.ros.org/sicktoolbox_wrapp... to configure the parameters of the LRF. We could not locate the device file /dev/ttyUSB0, where the LRF is suppossed to be connected. This is possibly because we were working in the simulated environment, so no physical LRF was required to be connected to the system. Hence the connectivity of the LRF was not notified to the operating system, thus, no device file device file /dev/ttyUSB0 was observed in the system. To realise the device /dev/ttyUSB0 in the system, we used the command mknod with details of major and minor device id to create the device and followed the instructions detailed in the above link.

After the node is created, we parametarize the device with rosparam command and executed the command rosrun sicktoolbox_wrapper sicklms.

/============= Creating the device /dev/ttyUSB0 =============/

vecc-ros@veccros-desktop:~/catkin_ws/src$ sudo mknod /dev/ttyUSB0 c 188 0

vecc-ros@veccros-desktop:~/catkin_ws/src$ ll /dev/ttyUSB0

crw-r--r-- 1 root root 188, 0 Mar 21 03:28 /dev/ttyUSB0

vecc-ros@veccros-desktop:~/catkin_ws/src$ sudo chmod 666 /dev/ttyUSB0

/============= Setting the parameters of the device ===============/

vecc-ros@veccros-desktop:~/catkin_ws/src$ rosparam set sicklms/port /dev/ttyUSB0

vecc-ros@veccros-desktop:~/catkin_ws/src$ rosparam set sicklms/baud 38400

/============= The SickLMS application is started =============/

vecc-ros@veccros-desktop:~/catkin_ws/src$ rosrun sicktoolbox_wrapper sicklms

*** Attempting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyUSB0

**ERROR: I/O exception - SickLMS2xx::_setupConnection: - Unable to open serial port ERROR: I/O exception - SickLMS2xx::_setupConnection: - Unable to open serial port Then we repeated the similar excercise for the serial device existing in the system i.e., /dev/ttyS0. This time the device was indentified, the sicklms application could start but failed to set the baud rate of the device.

/============ Setting the parameters of the device ===============/

vecc-ros@veccros-desktop:~/catkin_ws/src$ ll /dev/ttyS0

crw-rw---- 1 root dialout 4, 64 Mar 21 02:36 /dev/ttyS0

vecc-ros@veccros-desktop:~/catkin_ws/src$ sudo chmod 666 /dev/ttyS0

vecc-ros@veccros-desktop:~/catkin_ws/src$ rosparam set sicklms/port /dev/ttyS0

vecc-ros@veccros-desktop:~/catkin_ws/src$ rosparam set sicklms/baud 38400

/============= The serial paramters are set using setserial command ==============/

vecc-ros@veccros-desktop:~/catkin_ws/src$ setserial -a /dev/ttyS0 /dev/ttyS0, Line 0, UART: 16550A, Port: 0x03f8, IRQ: 4 Baud_base: 115200, close_delay: 50, divisor: 0 closing_wait: 3000 Flags: spd_cust skip_test

vecc-ros@veccros-desktop:~/catkin_ws/src$ sudo setserial /dev/ttyS0 baud_base 38400

vecc-ros@veccros-desktop:~/catkin_ws/src$ setserial -a /dev/ttyS0 /dev/ttyS0, Line 0, UART: 16550A, Port: 0x03f8, IRQ: 4 Baud_base: 38400, close_delay: 50 ... (more)