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SICKAG / sick_scan2

sick_scan2 is an open-source project to support the laser scanner of the company SICK using the ROS2 framework
Apache License 2.0
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ERROR: LuxBase::cmd_getParameter: LD-MRS ERROR: Failed to receive GetParameter reply. #15

Closed Kaju-Bubanja closed 3 years ago

Kaju-Bubanja commented 3 years ago

I have a LD-MRS400001 and running the sick_ldmrs.launch.py launcher with the default config, except the ip is changed, results in following errors:

username@username-HP-Z2-Tower-G4-Workstation:~/ros2_foxy$ ros2 launch sick_scan2 sick_ldmrs.launch.py
[INFO] [launch]: All log files can be found below /home/username/.ros/log/2021-01-13-16-22-14-289375-username-HP-Z2-Tower-G4-Workstation-4702
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sick_generic_caller-1]: process started with pid [4704]
[sick_generic_caller-1] [INFO] [1610551334.353802950] [sick_scan2]: sick_generic_caller V. 001.009.000
[sick_generic_caller-1] [INFO] [1610551334.353867987] [sick_scan2]: Program arguments: /home/username/ros2_foxy/install/sick_scan2/lib/sick_scan2/sick_generic_caller
[sick_generic_caller-1] [INFO] [1610551334.353877194] [sick_scan2]: Program arguments: --ros-args
[sick_generic_caller-1] [INFO] [1610551334.353882362] [sick_scan2]: Program arguments: -r
[sick_generic_caller-1] [INFO] [1610551334.353886767] [sick_scan2]: Program arguments: __node:=sick_scan2
[sick_generic_caller-1] [INFO] [1610551334.353891137] [sick_scan2]: Program arguments: --params-file
[sick_generic_caller-1] [INFO] [1610551334.353895403] [sick_scan2]: Program arguments: /home/username/ros2_foxy/install/sick_scan2/share/sick_scan2/config/sick_ldmrs.yaml
[sick_generic_caller-1] [INFO] [1610551334.353900074] [sick_scan2]: sick_generic_caller: scanner_name: sick_ldmrs, hostname: 192.168.0.10, port: 2112
[sick_generic_caller-1] [INFO] [1610551334.353939572] [sick_scan2]: Initializing LDMRS...
[sick_generic_caller-1] [INFO] [1610551334.354730580] [sick_ldmrs_driver]: Creating the manager.
[sick_generic_caller-1] [INFO] [1610551334.354762149] [sick_ldmrs_driver]: Adding the application SickLDMRS.
[sick_generic_caller-1] [INFO] [1610551334.354792040] [sick_ldmrs_driver]: ROS::param(sick_scan2,frame_id,ldmrs): frame_id=cloud
[sick_generic_caller-1] [INFO] [1610551334.354861993] [sick_ldmrs_driver]: ROS::param(sick_scan2,start_angle,0.872664): start_angle=0.872664
[sick_generic_caller-1] [INFO] [1610551334.354921136] [sick_ldmrs_driver]: ROS::param(sick_scan2,end_angle,-1.0472): end_angle=-1.0472
[sick_generic_caller-1] [INFO] [1610551334.354980900] [sick_ldmrs_driver]: ROS::param(sick_scan2,scan_frequency,0): scan_frequency=0
[sick_generic_caller-1] [INFO] [1610551334.355040958] [sick_ldmrs_driver]: ROS::param(sick_scan2,sync_angle_offset,0): sync_angle_offset=0
[sick_generic_caller-1] [INFO] [1610551334.355097969] [sick_ldmrs_driver]: ROS::param(sick_scan2,angular_resolution_type,1): angular_resolution_type=1
[sick_generic_caller-1] [INFO] [1610551334.355155184] [sick_ldmrs_driver]: ROS::param(sick_scan2,layer_range_reduction,0): layer_range_reduction=0
[sick_generic_caller-1] [INFO] [1610551334.355215291] [sick_ldmrs_driver]: ROS::param(sick_scan2,ignore_near_range,0): ignore_near_range=0
[sick_generic_caller-1] [INFO] [1610551334.355271584] [sick_ldmrs_driver]: ROS::param(sick_scan2,sensitivity_control,0): sensitivity_control=0
[sick_generic_caller-1] [INFO] [1610551334.355372226] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle1,0.872664): flexres_start_angle1=0.872664
[sick_generic_caller-1] [INFO] [1610551334.355432510] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle2,0.610865): flexres_start_angle2=0.610865
[sick_generic_caller-1] [INFO] [1610551334.355492182] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle3,0.523598): flexres_start_angle3=0.523598
[sick_generic_caller-1] [INFO] [1610551334.355551596] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle4,0.349065): flexres_start_angle4=0.349065
[sick_generic_caller-1] [INFO] [1610551334.355611835] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle5,0): flexres_start_angle5=0
[sick_generic_caller-1] [INFO] [1610551334.355676677] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle6,-0.349065): flexres_start_angle6=-0.349065
[sick_generic_caller-1] [INFO] [1610551334.355737243] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle7,-0.523598): flexres_start_angle7=-0.523598
[sick_generic_caller-1] [INFO] [1610551334.355796622] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_start_angle8,-0.698131): flexres_start_angle8=-0.698131
[sick_generic_caller-1] [INFO] [1610551334.355857807] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution1,32): flexres_resolution1=32
[sick_generic_caller-1] [INFO] [1610551334.355915427] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution2,16): flexres_resolution2=16
[sick_generic_caller-1] [INFO] [1610551334.355973153] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution3,8): flexres_resolution3=8
[sick_generic_caller-1] [INFO] [1610551334.356030412] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution4,4): flexres_resolution4=4
[sick_generic_caller-1] [INFO] [1610551334.356088330] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution5,8): flexres_resolution5=8
[sick_generic_caller-1] [INFO] [1610551334.356146019] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution6,16): flexres_resolution6=16
[sick_generic_caller-1] [INFO] [1610551334.356203498] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution7,32): flexres_resolution7=32
[sick_generic_caller-1] [INFO] [1610551334.356263876] [sick_ldmrs_driver]: ROS::param(sick_scan2,flexres_resolution8,16): flexres_resolution8=16
[sick_generic_caller-1] [INFO] [1610551334.356321760] [sick_ldmrs_driver]: ROS::param(sick_scan2,contour_point_density,2): contour_point_density=2
[sick_generic_caller-1] [INFO] [1610551334.356398833] [sick_ldmrs_driver]: ROS::param(sick_scan2,min_object_age,0): min_object_age=0
[sick_generic_caller-1] [INFO] [1610551334.356456558] [sick_ldmrs_driver]: ROS::param(sick_scan2,max_prediction_age,0): max_prediction_age=0
[sick_generic_caller-1] [INFO] [1610551334.357591245] [sick_ldmrs_driver]: Application is running.
[sick_generic_caller-1] [INFO] [1610551334.357604224] [sick_ldmrs_driver]: Adding the LDMRS device.
[sick_generic_caller-1] [INFO] [1610551334.357629346] [sick_ldmrs_driver]: ROS::param(sick_scan2,hostname,192.168.0.1): hostname=192.168.0.10
[sick_generic_caller-1] [INFO] [1610551334.357635742] [sick_ldmrs_driver]: Set IP address to 192.168.0.10
[sick_generic_caller-1] 1610551334.3577 Info: Manager::addAndRunDevice: Created Device of type 3 with Name LDMRS-1 under the ID 1. Now initializing the device.
[sick_generic_caller-1] 1610551334.3675 Info: LuxBase::readBeamTilt: LD-MRS Beam tilt read. Angle is 0.0 degrees.
[sick_generic_caller-1] 1610551334.3740 Warning: LuxBase::receiveMrsReply: LD-MRS Received that an error occurred.
[sick_generic_caller-1] 1610551334.3740 ERROR: LuxBase::cmd_getParameter: LD-MRS ERROR: Failed to receive GetParameter reply.
[sick_generic_caller-1] 1610551334.3740 Info: LuxBase::readUpsideDown: LD-MRS UpsideDown not supported by firmware.
[sick_generic_caller-1] 1610551334.3741 Info: LuxBase::cmd_setNtpTimestamp: seconds: 3819540134; fractional: 0
[sick_generic_caller-1] 1610551334.3784 Info: Manager::addAndRunDevice: Device is initialized.
[sick_generic_caller-1] 1610551334.5062 Info: Manager::addAndRunDevice: Device is running.
[sick_generic_caller-1] 1610551334.5063 Info: Manager::addAndRunDevice: Added device, now running source thread.
[sick_generic_caller-1] 1610551334.5064 Info: Manager::addAndRunDevice: All done, leaving.
[sick_generic_caller-1] [INFO] [1610551334.506822759] [sick_ldmrs_driver]: LD-MRS Firmware version is 3.02.5 2014-06-11 09:02
[sick_generic_caller-1] 1610551334.5137 Warning: LuxBase::receiveMrsReply: LD-MRS Received that an error occurred.
[sick_generic_caller-1] 1610551334.5138 ERROR: LuxBase::cmd_getParameter: LD-MRS ERROR: Failed to receive GetParameter reply.
[sick_generic_caller-1] [ERROR] [1610551334.513821390] [sick_ldmrs_driver]: Error: upside down mode is active, please disable!
[sick_generic_caller-1] [INFO] [1610551334.513915251] [sick_ldmrs_driver]: Updating config...
[sick_generic_caller-1] 1610551334.6400 Warning: LuxBase::receiveMrsReply: LD-MRS Received that an error occurred.
[sick_generic_caller-1] 1610551334.6401 ERROR: LuxBase::cmd_setParameter: LD-MRS ERROR: Failed to receive SetParameter reply.
[sick_generic_caller-1] [WARN] [1610551334.640084440] [sick_ldmrs_driver]: Sending param not successful: RangeReduction
[sick_generic_caller-1] 1610551334.6469 Warning: LuxBase::receiveMrsReply: LD-MRS Received that an error occurred.
[sick_generic_caller-1] 1610551334.6469 ERROR: LuxBase::cmd_setParameter: LD-MRS ERROR: Failed to receive SetParameter reply.
[sick_generic_caller-1] [WARN] [1610551334.646941885] [sick_ldmrs_driver]: Sending param not successful: IgnoreNearRange
[sick_generic_caller-1] 1610551334.6535 Warning: LuxBase::receiveMrsReply: LD-MRS Received that an error occurred.
[sick_generic_caller-1] 1610551334.6536 ERROR: LuxBase::cmd_setParameter: LD-MRS ERROR: Failed to receive SetParameter reply.
[sick_generic_caller-1] [WARN] [1610551334.653587598] [sick_ldmrs_driver]: Sending param not successful: SensitivityControl
[sick_generic_caller-1] [INFO] [1610551334.681687205] [sick_ldmrs_driver]: ... done updating config.
[sick_generic_caller-1] [INFO] [1610551334.681761224] [sick_ldmrs_driver]: sick_ldmrs_driver is initialized.
[sick_generic_caller-1] [INFO] [1610551334.681768816] [sick_scan2]: LDMRS initialized.

I can see the data in rviz2 and work with it, but probably I can't change any parameters in case I would want to do that.

michael1309 commented 3 years ago

Thanks for your report. After reviewing the error message, we can inform you of the following: The error messages in the logfile indicate that your MRS responds with an error to initial parameter queries (i.e. the error flag is set in the MRS response). These messages are not direct error messages from the driver. Rather, they give an indication that the LD MRS is issuing some warning messages. This results in a couple of error messages for different parameter queries.

As long as the lidar works with the default parameter, there's no need to take further actions.

If required, we recommend to use the Sopas ET software for further diagnosis.

michael1309 commented 3 years ago

closed due to inactivity