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SICKAG / sick_scan_xd

Based on the sick_scan drivers for ROS1, sick_scan_xd merges sick_scan, sick_scan2 and sick_scan_base repositories. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2).
Apache License 2.0
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unexpected answer sFA\x00\x01, followed by crash #131

Closed TheUncivil closed 1 year ago

TheUncivil commented 1 year ago

I'm currently attempting to connect to a NAV350-3232 LIDAR, launching the ROS node using the sick_nav_3xx.launch.py file. The LIDAR is set to use a custom IP address, which I pass to the launch file using the hostname:= parameter. I've set the LIDAR to use the CoLa binary protocol but am not declaring this on launch, as the ROS node seems to default to binary.

My system is running ROS2 Humble on an Ubuntu 22.04.1 machine.

Full terminal output shown below: lidar_terminal_output

Edit: added OS and ROS2 version Edit 2: After trying this using the ASCII protocol instead, I get a very similar error: [sick_generic_caller-1] [INFO] [1669883784.025697842] [sick_scan]: Sending : <STX>sMN LMCstopmeas<ETX> [sick_generic_caller-1] [INFO] [1669883784.028291953] [sick_scan]: Receiving: <STX>sFA 1<ETX> [sick_generic_caller-1] [WARN] [1669883784.028472974] [sick_scan]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX>sMN LMCstopmeas<ETX>, received answer: "sFA 1", expected patterns: "sAN LMCstopmeas","sMA LMCstopmeas" [sick_generic_caller-1] [WARN] [1669883789.028755820] [sick_scan]: Timeout during waiting for new datagram [sick_generic_caller-1] [WARN] [1669883789.028907147] [sick_scan]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX>sMN LMCstopmeas<ETX>, received answer: "", expected patterns: "sAN LMCstopmeas","sMA LMCstopmeas" [sick_generic_caller-1] [ERROR] [1669883789.028992768] [sick_scan]: Error unexpected Sopas answer for request <STX>sMN LMCstopmeas<ETX>, giving up after 1 unexpected answers. [sick_generic_caller-1] [INFO] [1669883789.029103819] [sick_scan]: Failed to init scanner Error Code: 1 Edit 3: changed full terminal output to screenshot for improved legibility

Edit 4: I have attempted this on a machine running ROS2 Foxy as well and encountered the same problem, although on Foxy the node does not shut down and instead attempts to connect to the LIDAR again every few seconds, throwing the same error.

rostest commented 1 year ago

Thanks for your feedback. The NAV350 is currently not supported by the driver. Support for NAV350 is planned within 1st quarter 2023 in one of the next releases.

TheUncivil commented 1 year ago

Can you give an update on NAV350 support? The company I work for is interested in using the NAV350 with this LIDAR.

rostest commented 1 year ago

NAV350 support will be included in the next sick_scan_xd release. It is currently being tested and will be available in may.