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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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FREchoFilter bug for LD-LRS36xx #15

Closed nigeno closed 2 years ago

nigeno commented 2 years ago

Setup: Built and ran the sick_scan_xd driver for LD-LRS36xx scanner. Linux/ROS2

Error: When running the launcher: ros2 run sick_scan sick_generic_caller ./sick_scan_xd_ws/src/sick_scan_xd/launch/sick_lrs_36x1.launch Had the following error message:

[INFO] [1638475316.716544632] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0018>sWN FREchoFilter 0x00 CRC:<0x7f>

[INFO] [1638475316.720468128] [sick_scan]: Receiving: <STX>sFA\x00\x03<ETX>

[ERROR] [1638475316.720602519] [sick_scan]: Error Sopas answer mismatch Error unexpected Sopas Answer for request <STX><STX><STX><STX><Len=0018>sWN FREchoFilter 0x00 CRC:<0x7f>Answer= >>>sFA\x00\x03<<<

Reason:

LD-LRS36xx doesn't have the Set echo filter. See 4.5.6 section

(technical_information_telegram_listing_ranging_sensors_lms1xx_lms5xx_tim2xx_tim5xx_tim7xx_lms1000_mrs1000_mrs6000_nav310_ld_oem15xx_ld_lrs36xx_lms4000_en_im0045927.pdf)

Solution:

sick_scan_common.cpp, line 2697 ->

change if(true) to if(false)

michael1309 commented 2 years ago

This problem is solved with the most recent version of this driver.