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Omron multi sensors

asked 2016-03-30 03:52:19 -0500

SH_Developer gravatar image

updated 2016-10-24 09:04:41 -0500

ngrennan gravatar image

i want to use 2 omron laser scanners but the following code doesn't work:

<node ns="first" pkg="omron_os32c_driver" type="omron_os32c_node" name="omron_os32c_node"> 
<param name="host" value=""/> 
<param name="frame_id" value="laser1"/> 
<param name="start_angle" value="1.0471975512" /> 
<param name="end_angle" value="-1.0471975512" /> 
<remap from="scan" to="scan1">
<node ns="second" pkg="omron_os32c_driver" type="omron_os32c_node" name="omron_os32c_node_2"> 
<param name="host" value=""/> 
<param name="frame_id" value="laser2"/> 
<param name="start_angle" value="1.0471975512" /> 
<param name="end_angle" value="-1.0471975512" /> 
<remap from="scan" to="scan2">

have someone an idea how launch 2 same node simultaneously? thanks.


started roslaunch server http://localhost:57492/


 * /first/omron_os32c_node/end_angle: -1.0471975512
 * /first/omron_os32c_node/frame_id: middle_torso_b_ba...
 * /first/omron_os32c_node/host:
 * /first/omron_os32c_node/start_angle: 1.0471975512
 * /rosdistro: indigo
 * /rosversion: 1.11.10
 * /second/omron_os32c_node_2/end_angle: -1.0471975512
 * /second/omron_os32c_node_2/frame_id2: middle_torso_a_ba...
 * /second/omron_os32c_node_2/host:
 * /second/omron_os32c_node_2/start_angle: 1.0471975512

    omron_os32c_node (omron_os32c_driver/omron_os32c_node)
    omron_os32c_node_2 (omron_os32c_driver/omron_os32c_node)

auto-starting new master
process[master]: started with pid [13686]

setting /run_id to 1663060e-f667-11e5-bb4c-00187d98c03c
process[rosout-1]: started with pid [13699]
started core service [/rosout]
process[first/omron_os32c_node-2]: started with pid [13716]
process[second/omron_os32c_node_2-3]: started with pid [13735]
[FATAL] [1459335832.918327894]: Exception caught opening session: bind
[second/omron_os32c_node_2-3] process has died [pid 13735, exit code 255, cmd /opt/ros/indigo/lib/omron_os32c_driver/omron_os32c_node scan:=scana __name:=omron_os32c_node_2 __log:=/home/omni/.ros/log/1663060e-f667-11e5-bb4c-00187d98c03c/second-omron_os32c_node_2-3.log].
log file: /home/omni/.ros/log/1663060e-f667-11e5-bb4c-00187d98c03c/second-omron_os32c_node_2-3*.log
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What do you mean by saying "doesnt work"? Any error message when you launch?

DavidN gravatar image DavidN  ( 2016-03-30 05:25:15 -0500 )edit

@heno: please don't use answers to post updates. If you want to add more information (because @DavidN asked for that fi), edit your original question. Use the edit link/button for that. I've already merged your two posts, but please keep it in mind next time.

gvdhoorn gravatar image gvdhoorn  ( 2016-03-30 08:42:25 -0500 )edit

same problem here, any suggestions?

wassimhariri gravatar image wassimhariri  ( 2016-03-30 10:04:39 -0500 )edit

I'm pretty sure this is a limitation coming from the way in which the current implementation works with its sockets. I suggest you report this at ros-drivers/omron/issues.

gvdhoorn gravatar image gvdhoorn  ( 2016-03-30 10:05:33 -0500 )edit

It seems the output of your launch is not equivalent to the launch file you posted on top. Host ip, ns, start and end angles are different from what specified in launch file.

DavidN gravatar image DavidN  ( 2016-03-30 21:02:57 -0500 )edit

I am getting the same problem. Please an answer ?

Selano gravatar image Selano  ( 2016-03-31 08:56:46 -0500 )edit

2 Answers

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answered 2016-04-06 16:23:10 -0500

KareemShehata gravatar image

As I've answered on the github issue, the current Omron driver really doesn't support that. The way Ethernet/IP and specifically the Omron works is that scan data is sent back via UDP to a static port on the local host. It may be possible to change that port number, but TBH I don't know how to tell the Omron which port to call back on or if that's actually possible. It's probably better to try to make the one node support two Omron's. This can be done by reusing the receiving IO port with two instances of the OS32C class.

Another option would be to use TCP to receive scan data. This might be slower, but would mean that you could use two different nodes.

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thx for your answer. I tried to used one node support two Omron's but it still binding.

SH_Developer gravatar image SH_Developer  ( 2016-04-08 08:57:31 -0500 )edit

answered 2016-03-30 10:12:20 -0500

mpc_agro gravatar image

updated 2016-03-30 10:18:19 -0500

In the above output the host ip seems to be the same for both laser-scanners. Are you sure you are start the correct launch file ?

If I use two sick laser scanners the launch file would look like this:

    <node pkg="sick_tim5xx" type="sick_tim5xx_node" name="laser_node_right">
    <param name="frame_id" value="laser_link_right" />
    <param name="host" value=""/>
    <param name="topic_id" value="/fmSensors/scan_right" />
    <param name="min_usable_angle" value="-2.35619449" />
    <param name="max_usable_angle" value="2.35619449" />

    <node pkg="sick_tim5xx" type="sick_tim5xx_node" name="laser_node_left">
    <param name="frame_id" value="laser_link_left" />
    <param name="host" value=""/>
    <param name="topic_id" value="/fmSensors/scan_left" />
    <param name="min_usable_angle" value="-2.35619449" />
    <param name="max_usable_angle" value="2.35619449" />
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@mpc_agro the host IP above is different...

mgruhler gravatar image mgruhler  ( 2016-03-31 02:52:07 -0500 )edit

can you please send me the link where you downloaded the sick_tim5xx package? thanks in advance

wassimhariri gravatar image wassimhariri  ( 2016-03-31 05:12:43 -0500 )edit

First look at your IP again and try to read this link:

I think it is unlikely that the IP is

For a sick node that can be used with their scanner look her:

mpc_agro gravatar image mpc_agro  ( 2016-03-31 08:53:10 -0500 )edit

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Asked: 2016-03-30 03:52:19 -0500

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Last updated: Apr 06 '16