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Sick TiM310 Laser scanner not publishing to the topic

asked 2013-06-20 07:51:44 -0600

theblackpearl gravatar image

updated 2013-11-14 11:06:45 -0600

tfoote gravatar image

Hi,

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 -0600

updated 2022-04-04 09:07:56 -0600

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.

Edit 04/2022: Apparently, I removed the "quick hack" branch in 2013. If anybody is still looking for this, the contents of the branch were merged in the main branches as the sick_tim310_1130000m01 node.

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Asked: 2013-06-20 07:51:44 -0600

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Last updated: Apr 04