rosservice call doesn't work

[simk0024]

i have lidarloc 2.0.0.14R installed and latest release of sick_lidar_localization package v5.3.0 launched. In Rviz, i could get the right TF of robot pose, but i could not use the rosservice like LocInitializeAtPose, getting "False" result as below.

rosservice call /LocInitializeAtPose "x: 100 y: 100 yaw: 0 searchradius: 50"
success: False

If there any configuration required to make rosservice works?

[rostest]

Thanks for reporting. The services require their arguments in a json-syntax (colon separated and with brackets)l:

rosservice call LocInitializeAtPose "{x: 100, y: 100, yaw: 0, searchradius: 50}"

This should result in successfull execution.

For further diagnosis in case of errors, it's possible to send commands directly using curl:

curl -i -H "Content-Type: application/json" -X POST -d "{\"data\":{\"x\":100,\"y\":100,\"yaw\":0,\"searchradius\":50}}" http://192.168.0.1/api/LocInitializeAtPose

Ros services are the preferred way. The native curl command display the SIM response "as is" without any conversion, which can help in case of unexpected results. See https://github.com/SICKAG/sick_lidar_localization/blob/master/doc/sick_localization_services.md for details.

[simk0024]

Hi,

I tried both.

1. for using rosservice call using json-syntax, I received same result

   rosservice call LocInitializeAtPose "{x: 100, y: 100, yaw: 0, searchradius: 50}"
   success: False

2. for using curl, here is the response i received.

   
   data\":{\"x\":100,\"y\":100,\"yaw\":0,\"searchradius\":50}}" http://127.0.0.1/api/LocInitializeAtPose
   HTTP/1.1 502 Bad Gateway
   Server: nginx/1.14.0 (Ubuntu)
   Date: Thu, 02 Dec 2021 16:33:58 GMT
   Content-Type: text/html
   Content-Length: 182
   Connection: keep-alive

502 Bad Gateway

---

nginx/1.14.0 (Ubuntu)

[rostest]

"Bad Gateway" means the SIM is unreachable. Please check the IP-adress in the curl command: The default SIM-server has IP 192.168.0.1. Argument "http://127.0.0.1/api/LocInitializeAtPose" (i.e. localhost) was probably not intended. You can also try to query the system state with rosservice call LocIsSystemReady "{}" resp. curl -i -H "Content-Type: application/json" -X POST -d "{}" http://192.168.0.1/api/IsSystemReady

[simk0024]

what is SIM-server?

I am doing REST request and rosservice call on same device, i.e. IPC with both SICK LidarLoc 2.0 and ROS package running. The IPC is connecting to SICK TIM571 Lidar Sensor via LAN, [IP_ADDRESS=192.168.1.5].

I tried the rosservice call LocIsSystemReady "{}", and success: False received. Unable to exec curl command with IP 192.168.0.1 as this address not found.

[rostest]

The SIM is the localization controller, which is connected to both the PC and the Lidar sensor. See https;//cdn.sick.com/media/docs%2F0%2F20%2F720%2Foperating_instructions_operating_instructions_en_im0082720.pdf for details. The IP of this localization server (SIM) is the address for the curl commands. Please make sure that the server is reachable for http requests.

[simk0024]

In my case, I don't use localization controller. I use industrial PC, as described in figure below:

[rostest]

I see, thanks! We'll have to investigate and reply soon.

[tbohnma]

For the sake of completeness, the SIM is a controller from SICK to run LiDAR-LOC. Alternatively, as @simk0024 has posted, LiDAR-LOC can run on any IPC. In this case the bad answers might be from a not activated Software. I'll keep this ticket open until we have further information.

[tbohnma]

I'll close this issue due to inactivity