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PepperlFuchs / pf_lidar_ros_driver

ROS driver for Pepperl+Fuchs R2000 and R2300 laser scanners
https://www.pepperl-fuchs.com/global/en/23097.htm
Apache License 2.0
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R2000 UHD not supported #78

Closed robertwil closed 2 years ago

robertwil commented 2 years ago

Hi, I was testing our R2000 UHD with this driver and it seems it does not work as it says: [ERROR] [1652961708.518646295]: Device unsupported [ERROR] [1652961708.521031680]: Unable to initialize device

I debugged a little and found that the function PFInterface::handle_version fails at line 124 (https://github.com/PepperlFuchs/pf_lidar_ros_driver/blob/90213cad3edb4378f379b310a4fd40be6a9dcc47/pf_driver/src/pf/pf_interface.cpp#L124) which indicated a mismatch of the version as far as I understood. The actual version inside the function would be 1 (major) 4 (minor)

Is the UHD version not supported and this is a known behavior ?

Firmware: 1.60 Hardware: 1.71 Protocol: 1.04

hsd-dev commented 2 years ago

For now could you please change this line manually and recompile? https://github.com/PepperlFuchs/pf_lidar_ros_driver/blob/90213cad3edb4378f379b310a4fd40be6a9dcc47/pf_driver/src/pf/pf_interface.cpp#L108 The way R2000 and R2300 are identified might have to change.

robertwil commented 2 years ago

Changing the versions leads to a start of the ScanPublisherR2000 without obvious errors .. I could not receive any scan though but this could have different reasons.

hsd-dev commented 2 years ago

Can you check with wireshark if you are receiving any packets?

robertwil commented 2 years ago

I can check the next time I get to the scanner. At least there are no bigger connectivity issues (like cables, bad network interfaces etc.) as I could get scans in PACTware as well as in the other non official driver (https://github.com/dillenberger/pepperl_fuchs) but which has other problems.

hsd-dev commented 2 years ago

At least to take care of the problem with major and minor version numbers, I have pushed some changes in https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/77/commits/8234c6f212a8fe622b755bd2e25db8297444a41e, which is part of https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/77.

hsd-dev commented 2 years ago

https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/77 has been merged and seems to have solved the issue. Please feel free to reopen the issue if you are still facing it.