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sick_scan Launch error

asked 2019-12-11 14:35:49 -0600

Aust gravatar image

updated 2019-12-14 01:05:19 -0600

gvdhoorn gravatar image

I am new to using ROS and am trying to use a Tim561 lidar with sick_scan. When I run the command below I obtain the following output error.

roslaunch sick_scan sick_tim_5xx.launch 

... logging to /home/austin/.ros/log/8adb6048-1c48-11ea-a1ae-b94bf9e35c82/roslaunch-austin-Precision-5520-5563.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://austin-Precision-5520:46695/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /sick_tim_5xx/cloud_topic: cloud
 * /sick_tim_5xx/frame_id: cloud
 * /sick_tim_5xx/hostname: 169.254.172.71
 * /sick_tim_5xx/intensity: True
 * /sick_tim_5xx/max_ang: 2.35619449
 * /sick_tim_5xx/min_ang: -2.35619449
 * /sick_tim_5xx/port: 2112
 * /sick_tim_5xx/range_max: 100.0
 * /sick_tim_5xx/scanner_type: sick_tim_5xx
 * /sick_tim_5xx/timelimit: 5
 * /sick_tim_5xx/use_binary_protocol: True

NODES
  /
    sick_tim_5xx (sick_scan/sick_generic_caller)

ROS_MASTER_URI=http://localhost:11311

process[sick_tim_5xx-1]: started with pid [5580]
[ INFO] [1576090913.600026808]: sick_generic_caller V. 001.003.020
[ INFO] [1576090913.600070064]: Program arguments: /home/austin/ros_catkin_ws/devel/lib/sick_scan/sick_generic_caller
[ INFO] [1576090913.600079721]: Program arguments: __name:=sick_tim_5xx
[ INFO] [1576090913.600104200]: Program arguments: __log:=/home/austin/.ros/log/8adb6048-1c48-11ea-a1ae-b94bf9e35c82/sick_tim_5xx-1.log
[ INFO] [1576090913.608229162]: Found sopas_protocol_type param overwriting default protocol:
[ INFO] [1576090913.608254610]: Binary protocol activated
[ INFO] [1576090913.608266937]: Start initialising scanner [Ip: 169.254.172.71] [Port: 2112]
[ INFO] [1576090913.634351789]: Publishing laserscan-pointcloud2 to cloud
1576090913.6374 ERROR: Tcp::open: Failed to open TCP connection to 169.254.172.71, aborting.
[ INFO] [1576090913.639255645]: Parameter setting for <active_echo: 0>
[ INFO] [1576090913.839928764]: Sending  : <STX><STX><STX><STX><Len=0023>sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3>
1576090913.8401 Warning: Tcp::write: Failed to send data to socket.
[ERROR] [1576090919.908813399]: no answer received after 5000 ms. Maybe sopas mode is wrong.

[ INFO] [1576090919.908940549]: sendSOPASCommand: no full reply available for read after 5000 ms
[ INFO] [1576090919.909188489]: Receiving: <STX><ETX>
[ INFO] [1576090919.909267448]: SOPAS Communication -Error unexpected Sopas Answer for request <STX><STX><STX><STX><Len=0023>sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3>

[ INFO] [1576090919.909547112]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
1576090919.9096 Warning: Tcp::write: Failed to send data to socket.
[ERROR] [1576090926.000694232]: no answer received after 5000 ms. Maybe sopas mode is wrong.

[ INFO] [1576090926.000826998]: sendSOPASCommand: no full reply available for read after 5000 ms
[ INFO] [1576090926.001042284]: Receiving: <STX><ETX>
[ INFO] [1576090926.001114041]: SOPAS Communication -Error unexpected Sopas Answer for request <STX>sMN SetAccessMode 3 F4724744<ETX>

[ERROR] [1576090926.001280456]: Error Access Mode
[ INFO] [1576090926.201903159]: Sending  : <STX>sWN EIHstCola 1<ETX>
1576090926.2020 Warning: Tcp::write: Failed to send data to socket.
[ERROR] [1576090932.263198941]: no answer received after 5000 ms. Maybe sopas mode is wrong.

[ INFO] [1576090932.263299494]: sendSOPASCommand: no full reply available for read after 5000 ms
[ INFO] [1576090932.263501296]: Receiving: <STX><ETX>
[ INFO] [1576090932.263565671]: SOPAS Communication -Error unexpected Sopas Answer for request <STX>sWN EIHstCola 1<ETX>

[ERROR] [1576090932.263724024]: Command or Error message not defined
[ INFO] [1576090932.263905386]: Failed to init scanner Error Code: 1
Waiting for timeout...
If the communication mode set in the scanner memory is different from that used by the driver, the scanner's communication mode is changed.
This requires a restart of the TCP-IP connection, which can ...
(more)
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2 Answers

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answered 2019-12-12 13:38:06 -0600

Aust gravatar image

The problem was a networking error with the LiDAR and the PC. The IP Address was slightly off and was found by using SOPAS to set the IP Address as the same as the computer and adjusting the last digit in the IP Address to a different value.

PC IP: 169.254.149.???

LiDAR IP: 169.254.149.XXX

After this, the error on the ubuntu side was that the wired connection was not connecting appropriately due to the IP error. It was also not staying connected so I then used the network manager to change IPv4 to a link-Local Only to allow for the connection to be secured. Now the node sick_tim_5xx.launch was able to be executed with no errors

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answered 2019-12-12 08:24:11 -0600

MichaelDUEE gravatar image

updated 2019-12-12 08:27:56 -0600

First of all to make your lidar work you must enable the lidar and configure its IP address(the IP address must be a valid address for your router or whatever device you are using) from sick's softwares SOPAS there is also a video. Then from the launch file you can edit the IP address to that you are using ( if its different) and the launch should be fine.

If you are still having trouble let me know.

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Comments

I have configured the device in SOPAS with an IP Address of 169.254.181.101 , Subnet-mask of 255.255.0.0, and a Gateway of 0.0.0.0 on my computer in windows and can communicate with the device. But when I boot into ubuntu I am unable to ping the LiDAR that is connected to the ethernet port 2112. In doing so I obtain the following results.

ping 169.254.181.101 2112 connect: Network is unreachable

What would cause this issue and how can I fix it? As a note my computer is a dell precision 5520 that is dual booted with ubuntu 16.04.

I have also tried to set the wired connection to manual IPv4 and inputted the IP Address, and mask above to ping an it will connect but then looses 100% of the packages.

Aust gravatar imageAust ( 2019-12-12 09:51:12 -0600 )edit

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Asked: 2019-12-11 14:35:49 -0600

Seen: 64 times

Last updated: Dec 14 '19