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SICKAG / sick_safetyscanners

ROS driver for SICK safety laser scanners
https://www.sick.com/de/en/opto-electronic-protective-devices/safety-laser-scanners/c/g187225
Apache License 2.0
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Measurement data with 2 sensors for 2 receivers with UDP broadcast #27

Closed tbohnma closed 4 years ago

tbohnma commented 4 years ago

Hello,

with the current driver I could not acquire scan data from two microScans3 at two receivers.

Please, refer to the attached pptx for more detailled description.

LiDAR-LOC_ROS_test.pptx

sick_safetyscanners.launch.txt

puck-fzi commented 4 years ago

Hello,

first of all your launch file differs from the one you show in the presentation, which is the one you used for the tests?

Then second, the driver configures one UDP adress in the sensor, to which the UDP Data packages are sent. There is no support for in the driver to send the UDP packages to multiple Hosts. I even think, there is no support in the scanner to send the data to multiple sinks, since the target UDP adress is specified via Cola2. The way would be to get the raw data on one computer and then send the ros messages to the other nodes on the different machines.

For the UDP Port 0 in both controllers... this allows the driver to select a port from the ephemeral range, therefore two different ports will be chosen.

Hope this clarifies your questions.

tbohnma commented 4 years ago

Sorry, for the wrong file. I updated it in the previous post.

The above launch file, (should) set(s) both sensors to UDP broadcast, which allows multiple receivers of the measurement data. Without ROS, but safety designer it works. So the scanners support this.

Also it works, with the last procedure, to acquire raw data on both receivers.

Thanks for the info about port=0.

puck-fzi commented 4 years ago

Alright. i'll have a look into it. If you have find any issue, feel free to open a pull request with your solution.

puck-fzi commented 4 years ago

Unfortunately I haven't been able to locate the issue until now. I will keep investigating

NikolasE commented 4 years ago

I'm currently having the same setup (Two NanoScan, one SIM1000 and a ROS Laptop) and problem. I think this is going to a common use case with the ROS-Interfaces for both the NanoScan and the Lidar-Localization (https://github.com/SICKAG/sick_lidar_localization).

I could not test the given solution in the first post as the sick_safetyscanners_org.launch is missing.

What is happening during the short TCP-connection at the start of this node? I saw in wireshark that my sensor is sending on UDP, so shouldn't it be possible to that this node without the TCP connection and just read the UDP-packages?

puck-fzi commented 4 years ago

Hi, if you have any insights feel free to share, i am currently trying to solve this issue as well. The _org file is the original launch file as provided in this repository.

And yes at the beginning the sensor sends the current configuration as provided by the launch file to the sensor. There it appears something is not written correctly to the sensor and overwrites the persistent sensor config.

A workaround might be to disable the sending of the current sensor config and use the config from the safety designer. But this is in my opinion only a workaround and not the preferred way, since there are more parameters send to the sensor then just the IP addresses.

puck-fzi commented 4 years ago

Hello together,

i tried to find the issue you are getting. My current setup is a notebook and a tinkerboard both connected via switch to a microScan3 sensor. The sensor is set via SafetyDesigner to Broadcast (192.168.1.255). On the tinkerboard i start then the driver with the following command:

roslaunch sick_safetyscanners sick_safetyscanners.launch host_ip:="192.168.1.255" host_udp_port:=6070 sensor_ip:="192.168.1.11"

When I look at wireshark connections I still get all the UDP packages on my notebook. Changed to the corresponding port (6070 in this case).

Therefore I am still not able to reproduce the before mentioned error and the broadcast works in my case. Which might help is to set the host_udp_port to the desired ports, since when it is configured to 0 a port from the ephemeral range will be used.

Please let me know if that helps. Furthermore if you are starting two instances of the sensor you should do so in separate namespaces with separate ports.

It even was possible to start a ros_driver instance on the tinkerboard and one on the notebook and both gave output on the scan topic. On both computer the before mentioned command was used.

If you still have the same issue please let me know what exactly you tried, in my setup I am not able to reproduce the errors and the broadcast functionality works.

puck-fzi commented 4 years ago

Additionally, I set the sensor in the safety designer to send datagrams to 192.168.1.100 and then checked with wireshark on the notebook (192.168.1.9). -> No UDP datagrams

Then launched the driver on the tinkerboard (192.168.1.100) with: roslaunch sick_safetyscanners sick_safetyscanners.launch host_ip:="192.168.1.255" host_udp_port:=6070 sensor_ip:="192.168.1.11"

-> UDP datagrams appearing in wireshark on notebook (192.168.1.9)

Therefore even without setting the broadcast in the safety designer the broadcast will be enabled by the driver

kajiyyuGXJ commented 4 years ago

Hello, I'm colleague of author. Would you please tell me how to disable the sending of the current sensor config? by SOPAS or Telegram? A workaround might be to disable the sending of the current sensor config and use the config from the safety designer.

And thank you very much for your support, I'll test your procedure.

puck-fzi commented 4 years ago

Hi, as mentioned it should work with the current state of the driver. If not please let me know. For the workaround in src/SickSafetyscannersRos.cpp comment out line 90 m_device->changeSensorSettings(m_communication_settings);

But as mentioned it should not be needed. And its only internal of the ROS driver, and it disables the sending of the new settings to the sensor.

puck-fzi commented 4 years ago

The out of range issue, as mentioned in issue #32 as well, should be fixed with the latest commit. If not please let me know. If a warning appears, please let me know as well, and paste the warning and the type of the used sensors in issue #32.

puck-fzi commented 4 years ago

Since the broadcast works i my setup with the current version of the driver, I will close this issue. Feel free to reopen if there are still problems.

DatZ2H commented 3 years ago

Hello, I'm currently having the same setup (Four Microscan3, Two SIM1000 and a ROS IPC 18.04LTS) ( This is two AGV) and problem. The system ONE setup: -The First time (Error):

I tried a few of UDP but It don't work or can connect with MS3 But Lidar-loc Error

Could you check for me.

Thanks

tbohnma commented 3 years ago

Hello Dat, concerning out_of_range have you used the latest driver, since this error was fixed here: https://github.com/SICKAG/sick_safetyscanners/issues/32

Just for clarification:

DatZ2H commented 3 years ago

Hi , I did it again clone (git clone https://github.com/SICKAG/sick_safetyscanners.git) But when i choose UDP is (6060, 6061....) => ERROR #32. Thist it my system: https://user-images.githubusercontent.com/52695336/94882696-e5ad2c80-0492-11eb-9c80-62dfa68721cb.png System 1: running with (6070 vs 6061) but why not is (6060 and 6061) because Sick recommed in Hardware Instruction at the link above in chapter 6.2.4.5 is UDP 6060 and 6061. and When i using 6060 and 6061 with system 1=> Error Out_of_range. System 2: with only Package Sick_Safetyscanner can connect 2 MS3 with 6060,6061 but Data ong Lidar-Loc Error. I saw in the wireshark on PC it ok. Has Source 192.168.1.22 and 23 destination 192.168.1.255 and info 6060=> and 6061=>6061.

Thanks

puck-fzi commented 3 years ago

Hi Dat,

Could you please provide the log of the crash, preferably with the driver being build in debug mode. For this please rebuild the package with catkin_make -DCMAKE_BUILD_TYPE=Debug

The issues of out of range erros is supposed to be fixed in the latest release. However if issues still persist I would need the logs to identify the error. Thanks

DatZ2H commented 3 years ago

Hello, Thanks for the advise and guidance, Finally I can get Position ( Lidar-Loc) and Raw data from Broadcast. System1 or System 2 with UDP Port using 6060 and 6061=> Working. I have done like instruction: https://github.com/SICKAG/sick_safetyscanners/issues/46 In the file: SickSafetyscannerRos.cpp (catkin_ws/src/sick_safetyscanners/src/SickSafetyscannerRos.cpp) I changed. OLD: if (monitoring_case_number_flags.at(0)) { msg.active_monitoring_case = monitoring_case_numbers.at(0); } NEW: if (monitoring_case_number_flags.size()>0){ msg.active_monitoring_case = monitoring_case_numbers.at(0); }else { msg.active_monitoring_case = 0; } And it can run any UDP And this is file debug (catkin_make -DCMAKE_BUILD_TYPE=Debug) https://github.com/SICKAG/sick_safetyscanners/files/5338721/sick_safetyscanner.txt

puck-fzi commented 3 years ago

Hi, great to hear, I will try to integrate this check and see why this occurs at this place. Thanks for your insights.

nguyendo1403 commented 11 months ago

Hi @puck-fzi, when i use Sick Microscan3, can i get Position (Lidar-Loc) and Raw data from Broadcast? Can you show me the instructions? Thank you very much! I only use a ROS IPC, i don't use SIM1000.