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SICKAG / sick_scan_xd

A versatile driver for a wide range of SICK LiDAR and RADAR devices, providing support for both Linux (native, ROS 1, ROS 2) and Windows (native, ROS 2) platforms.
Apache License 2.0
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LMS1xx setting scan configuration error #128

Closed MechatronixX closed 1 year ago

MechatronixX commented 1 year ago

For LMS1xx using ROS1 I get:

[1669718842.752241476] [ INFO] [/sick_lms_1xx:SickScanCommon::init_scanner] Sending mLMPsetscancfg request: { scan_frequency=5000, active_sector_cnt=1, angular_resolution[0]=5000, start_angle[0]=-450000, stop_angle[0]=2250000 } [1669718842.752257883] [ INFO] [/sick_lms_1xx:SickScanCommon::sendSopasAndCheckAnswer] Sending : <STX>sMN mLMPsetscancfg \x00\x00\x13\x88\x00\x01\x00\x00\x13\x88\xff\xf9\x22\x30\x00\x22\x55\x10<ETX> [1669718842.753645922] [ INFO] [/sick_lms_1xx:SickScanCommon::sendSopasAndCheckAnswer] Receiving: <STX>sFA 11<ETX>

So an error code sFA 11, some unrecognized command. I suppose this could be due to current firmware version, but at least the developers guide does not mention any firmware versions this command would be limited to.

To reproduce Basically used your official guide for ROS1 with catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -DSCANSEGMENT_XD=0 -Wno-dev

Then launched using roslaunch sick_scan sick_lms_1xx.launch

with setting in the launch file changed to

use_binary_protocol=false

and otherwise just ip and port changed for the lidar. The lidar has the firmware sRA FirmwareVersion 9 V1.80.1. The lidar works, I can interface it using e.g. this driver

rostest commented 1 year ago

Thanks for your feedback. A firmware version >= 2.0 is required for setting the scan configuration (details can be found in https://github.com/SICKAG/sick_scan_xd/issues/122). Please update the lidar firmware and retry. I am closing the ticket for now. Please feel free to reopen the issue in case of further problems.