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Sick TiM310 Laser scanner not publishing to the topic

asked 2013-06-20 07:51:44 -0500

theblackpearl gravatar image

updated 2013-11-14 11:06:45 -0500

tfoote gravatar image


I am trying to get my SICK TIM 310 laser working with ROS. I installed the ROS package sick_tim3xx in Fuerte on Ubuntu 12.04 When I run roslaunch sick_tim3xx sick_tim3xx.launch, I get following output and nothing gets published on the topic.

WARNING: received less fields than expected fields (actual: 124, expected: 580), ignoring scan

What could be possibly wrong with the laser? why is it giving only 124 fields instead of 580?
I'd really appreciate your help thanks

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answered 2013-06-24 23:56:41 -0500

updated 2013-06-25 00:11:34 -0500

I've solved this issue with @theblackpearl over email; here's a summary of the solution:

  • The mystery scanner in question is actually the new TiM 510 (which is not sold yet), even though it was labeled as a TiM 310.
  • It provides 91 measurements per scan over a 270° scan angle, instead of 271 (like the TiM 310 does). Also, it doesn't provide intensities. This is why each datagram is only 124 instead of 580 bytes.
  • The specs for the datagram format are yet to be released; I've written a quick hack to make the scanner work until proper support can be added to the sick_tim3xx package.
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Asked: 2013-06-20 07:51:44 -0500

Seen: 622 times

Last updated: Jun 25 '13