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SICKAG / sick_safetyscanners2

ROS2 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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Unable to use use_persistend_config:=false #6

Closed eliasdc closed 3 years ago

eliasdc commented 3 years ago

When using a NanoScan3 we're unable get messages from the /scan topic when trying to configure angle_start and angle_end. These settings are only pushed to the lidar if use_persistent_config:=false but from that moment we don't receive messages on the topic. With use_persistent_config:=true everything works except for the changed angles of course. Changing this angle in the sick safety designer does not work. In the data output option the angles selection boxes are greyed out.

It does work with our custom sick_safetyscanners port (https://github.com/Tractonomy/sick_safetyscanners) to ros2 with the same settings, just altering the node and package in the launch file.

[INFO] [sick_safetyscanners2_node-1]: process started with pid [8642]
[sick_safetyscanners2_node-1] [INFO] [1616761017.855698792] [sick_safetyscanners2_node]: Initializing SickSafetyscannersRos2 Node
[sick_safetyscanners2_node-1] [INFO] [1616761017.855908010] [sick_safetyscanners2_node]: frame_id: top_lidar_sensor_frame
[sick_safetyscanners2_node-1] [INFO] [1616761017.855920080] [sick_safetyscanners2_node]: sensor_ip: 172.29.29.11
[sick_safetyscanners2_node-1] [INFO] [1616761017.855945050] [sick_safetyscanners2_node]: host_ip: 172.29.29.1
[sick_safetyscanners2_node-1] [INFO] [1616761017.855951561] [sick_safetyscanners2_node]: host_udp_port: 0
[sick_safetyscanners2_node-1] [INFO] [1616761017.855957664] [sick_safetyscanners2_node]: channel: 0
[sick_safetyscanners2_node-1] [INFO] [1616761017.855963329] [sick_safetyscanners2_node]: channel_enabled: true
[sick_safetyscanners2_node-1] [INFO] [1616761017.855981586] [sick_safetyscanners2_node]: skip: 0
[sick_safetyscanners2_node-1] [INFO] [1616761017.855987224] [sick_safetyscanners2_node]: angle_start: -2.100000
[sick_safetyscanners2_node-1] [INFO] [1616761017.856013327] [sick_safetyscanners2_node]: angle_end: 2.100000
[sick_safetyscanners2_node-1] [INFO] [1616761017.856019637] [sick_safetyscanners2_node]: time_offset: 0.000000
[sick_safetyscanners2_node-1] [INFO] [1616761017.856026554] [sick_safetyscanners2_node]: general_system_state: true
[sick_safetyscanners2_node-1] [INFO] [1616761017.856032865] [sick_safetyscanners2_node]: derived_settings: true
[sick_safetyscanners2_node-1] [INFO] [1616761017.856038956] [sick_safetyscanners2_node]: measurement_data: true
[sick_safetyscanners2_node-1] [INFO] [1616761017.856044913] [sick_safetyscanners2_node]: intrusion_data: true
[sick_safetyscanners2_node-1] [INFO] [1616761017.856051107] [sick_safetyscanners2_node]: application_io_data: true
[sick_safetyscanners2_node-1] [INFO] [1616761017.856079497] [sick_safetyscanners2_node]: use_persistent_config: false
[sick_safetyscanners2_node-1] [INFO] [1616761017.856087736] [sick_safetyscanners2_node]: min_intensities: 0.000000
[sick_safetyscanners2_node-1] [INFO]: Command Method Acknowledged.
[sick_safetyscanners2_node-1] [INFO] [1616761017.859604478] [sick_safetyscanners2_node]: Communication to Sensor set up
[sick_safetyscanners2_node-1] [INFO] [1616761017.859660753] [sick_safetyscanners2_node]: Reading Type code settings
[sick_safetyscanners2_node-1] [INFO]: Command Variable Acknowledged.
[sick_safetyscanners2_node-1] [INFO]: Type Code: NANS3-CAAZ30AN1P04
[sick_safetyscanners2_node-1] [INFO] [1616761017.862106282] [sick_safetyscanners2_node]: Node Configured and running

*edit: fixed typo

puck-fzi commented 3 years ago

Hi, I will try to debug this. Thanks for bringing this to my attention

puck-fzi commented 3 years ago

Alright i can reproduce the issue. However with a microScan3 it is behaving as expected. Just the nanoScan3 does not behave like it is supposed to. Furthermore, I fixed a small typo in the default launch file.

puck-fzi commented 3 years ago

Should be fixed now. the setup of the sensor settings should always be invoked now.

Furthermore defaulted to use custom angles as default.

Please reopen if the latest commits didn't fix the problem

eliasdc commented 3 years ago

I completely missed that typo, fixed in initial post too for future searches. I was however using the correct parameter when testing from my own launch file.

Just tested your fix and it does work as expected. Thanks.