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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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ROS_INFO: Software PLL is ready and locked now! #161

Closed ouyangziyao closed 1 year ago

ouyangziyao commented 1 year ago

Hello, sir. I run the sick_lms_5xx.launch on sick Ims511 on Windows with no ros. But I can't receive the Complete point cloud coordinate information. but there are part coordinates.Could you help me?

This is my sick_Ims_5xx.launch file. image

This is my Log information.

F:\Lidar_Demo\sick_scan_ws\sick_scan_xd>.\build\Debug\sick_scan_xd_api_test.exe launch/sick_lms_5xx.launch hostname:=192.168.0.12

sick_scan_xd_api_test started [Info]: sick_scan_api V. 2.8.15 [Info]: SickScanApiInitByCli: .\build\Debug\sick_scan_xd_api_test.exe launch/sick_lms_5xx.launch hostname:=192.168.0.12 [Info]: Try loading launchfile : launch/sick_lms_5xx.launch [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): default_args["hostname"]="192.168.0.10" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): default_args["cloud_topic"]="cloud" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): default_args["frame_id"]="cloud" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): default_args["sw_pll_only_publish"]="true" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): default_args["nodename"]="sick_lms_5xx" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): default_args["add_transform_xyz_rpy"]="0,0,0,0,0,0" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): default_args["add_transform_check_dynamic_updates"]="false" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="min_ang", type="double", value="-1.658062789" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="max_ang", type="double", value="1.658062789" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="cloud_topic", type="string", value="$(arg cloud_topic)" overwritten by default value "cloud" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="cloud_topic", type="string", value="cloud" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="frame_id", type="str", value="$(arg frame_id)" overwritten by default value "cloud" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="frame_id", type="str", value="cloud" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="scanner_type", type="string", value="sick_lms_5xx" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="range_min", type="double", value="0.05" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="range_max", type="double", value="100.0" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="range_filter_handling", type="int", value="0" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="intensity", type="bool", value="true" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="intensity_resolution_16bit", type="bool", value="false" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="hostname", type="string", value="$(arg hostname)" overwritten by default value "192.168.0.10" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="hostname", type="string", value="192.168.0.10" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="port", type="string", value="2112" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="timelimit", type="int", value="5" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="use_binary_protocol", type="bool", value="true" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="filter_echos", type="int", value="1" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="sw_pll_only_publish", type="bool", value="$(arg sw_pll_only_publish)" overwritten by default value "true" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="sw_pll_only_publish", type="bool", value="true" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="use_generation_timestamp", type="bool", value="true" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="min_intensity", type="double", value="0.0" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="add_transform_xyz_rpy", type="string", value="$(arg add_transform_xyz_rpy)" overwritten by default value "0,0,0,0,0,0" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="add_transform_xyz_rpy", type="string", value="0,0,0,0,0,0" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="add_transform_check_dynamic_updates", type="bool", value="$(arg add_transform_check_dynamic_updates)" overwritten by default value "false" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="add_transform_check_dynamic_updates", type="bool", value="false" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="start_services", type="bool", value="True" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="activate_lferec", type="bool", value="True" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="activate_lidoutputstate", type="bool", value="True" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="activate_lidinputstate", type="bool", value="True" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="message_monitoring_enabled", type="bool", value="True" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="read_timeout_millisec_default", type="int", value="5000" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="read_timeout_millisec_startup", type="int", value="120000" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="read_timeout_millisec_kill_node", type="int", value="150000" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="client_authorization_pw", type="string", value="F4724744" [Info]: LaunchParser::parseFile(launch/sick_lms_5xx.launch): name="ros_qos", type="int", value="-1" min_ang double -1.658062789 max_ang double 1.658062789 cloud_topic string cloud frame_id str cloud scanner_type string sick_lms_5xx range_min double 0.05 range_max double 100.0 range_filter_handling int 0 intensity bool true intensity_resolution_16bit bool false hostname string 192.168.0.10 port string 2112 timelimit int 5 use_binary_protocol bool true filter_echos int 1 sw_pll_only_publish bool true use_generation_timestamp bool true min_intensity double 0.0 add_transform_xyz_rpy string 0,0,0,0,0,0 add_transform_check_dynamic_updates bool false start_services bool True activate_lferec bool True activate_lidoutputstate bool True activate_lidinputstate bool True message_monitoring_enabled bool True read_timeout_millisec_default int 5000 read_timeout_millisec_startup int 120000 read_timeout_millisec_kill_node int 150000 client_authorization_pw string F4724744 ros_qos int -1 [Info]: Range filter configuration: range_min=0.05, range_max=100, range_filter_handling=0 ROS_INFO: Found sopas_protocol_type param overwriting default protocol: ROS_INFO: Binary protocol activated [Info]: Start initialising scanner [Ip: 192.168.0.12] [Port:2112] [Info]: Publishing on topic "/lferec", qos=10 [Info]: Publishing on topic "/lidoutputstate", qos=10 [Info]: Publishing on topic "/marker", qos=10 [Info]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0) [Info]: SickCloudTransform: azimuth_offset = 0 [deg] [Info]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) } [Info]: SickCloudTransform: apply 3x3 rotation = false [Info]: SickCloudTransform: additional translation = (0,0,0) [Info]: SickCloudTransform: check_dynamic_updates = false [Info]: Publishing lidar pointcloud2 to cloud [Info]: Publishing on topic "/cloud", qos=10 [Info]: Publishing on topic "/imu", qos=10 [Info]: Publishing on topic "/encoder", qos=10 [Info]: Publishing on topic "/scan", qos=10 [Info]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0) [Info]: SickCloudTransform: azimuth_offset = 0 [deg] [Info]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) } [Info]: SickCloudTransform: apply 3x3 rotation = false [Info]: SickCloudTransform: additional translation = (0,0,0) [Info]: SickCloudTransform: check_dynamic_updates = false [Info]: sick_scan_xd: Tcp::open: connecting to 192.168.0.12:2112 ... [Info]: sick_scan_xd Tcp::open: connected to 192.168.0.12:2112 [Info]: [Info]: Parameter setting for <active_echo: 0> SickThread TcpRecvThread started. [Info]: Sending : sRN SCdevicestate CRC:<0x30> [Info]: Receiving: sRA SCdevicestate \x01 [Info]: checkColaDialect: lidar response in configured Cola-dialect Cola-B [Info]: Sending : sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3> [Info]: Receiving: sAN SetAccessMode \x01 [Info]: Sending : sWN EIHstCola 0x01 CRC:<0x09> [Info]: Receiving: sWA EIHstCola [Info]: Sending : sRN FirmwareVersion CRC:<0x24> [Info]: Receiving: sRA FirmwareVersion \x00\x09\x56\x31\x2e\x38\x30\x2e\x32\x20\x20 [Info]: Sending : sRN SCdevicestate CRC:<0x30> [Info]: Receiving: sRA SCdevicestate \x00 ROS_DEBUG: Laser is busy [Info]: Sending : sRN ODoprh CRC:<0x41> [Info]: Receiving: sRA ODoprh \x00\x00\x02\x36 [Info]: Sending : sRN ODpwrc CRC:<0x52> [Info]: Receiving: sRA ODpwrc \x00\x00\x00\x29 [Info]: Sending : sRN LocationName CRC:<0x55> [Info]: Receiving: sRA LocationName \x00\x0b\x53\x4e\x20\x31\x39\x32\x31\x30\x37\x35\x30 [Info]: Sending : sRN LMPoutputRange CRC:<0x5e> [Info]: Receiving: sRA LMPoutputRange \x00\x01\x00\x00\x13\x88\xff\xff\x3c\xb0\x00\x1c\x3a\x90 [Info]: Angle resolution of scanner is 0.5 [deg] (in 1/10000th deg: 5000) [Info]: [From:To] -5 [deg] to 185 [deg] (in 1/10000th deg: from -50000 to 1850000) [Info]: MIN_ANG: -1.65806 [rad] -95 [deg] [Info]: MAX_ANG: 1.65806 [rad] 95 [deg] [Info]: Sending : sWN LMPoutputRange 0x00 0x01 0x00 0x00 0x13 0x88 0xff 0xff 0x3c 0xb0 0x00 0x1c 0x3a 0x90 CRC:<0xdb> [Info]: Receiving: sWA LMPoutputRange [Info]: Sending : sRN LMPoutputRange CRC:<0x5e> [Info]: Receiving: sRA LMPoutputRange \x00\x01\x00\x00\x13\x88\xff\xff\x3c\xb0\x00\x1c\x3a\x90 [Info]: Angle resolution of scanner is 0.5 [deg] (in 1/10000th deg: 5000) [Info]: MIN_ANG (after command verification): -1.65806 [rad] -95 [deg] [Info]: MAX_ANG (after command verification): 1.65806 [rad] 95 [deg] ROS_INFO: LMS 5xx detected overwriting output channel flag ID ROS_INFO: LMS 5xx detected overwriting resolution flag (only 8 bit supported) ROS_INFO: Reading safety fields [Info]: Sending : sRN field000 CRC:<0x1d> [Info]: Receiving: sRA field000 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field001 CRC:<0x1c> [Info]: Receiving: sRA field001 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field002 CRC:<0x1f> [Info]: Receiving: sRA field002 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field003 CRC:<0x1e> [Info]: Receiving: sRA field003 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field004 CRC:<0x19> [Info]: Receiving: sRA field004 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field005 CRC:<0x18> [Info]: Receiving: sRA field005 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field006 CRC:<0x1b> [Info]: Receiving: sRA field006 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field007 CRC:<0x1a> [Info]: Receiving: sRA field007 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field008 CRC:<0x15> [Info]: Receiving: sRA field008 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field009 CRC:<0x14> [Info]: Receiving: sRA field009 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [Info]: Sending : sRN field010 CRC:<0x1c> [Info]: Receiving: sRA field010 \x00 [Info]: Sending : sRN field011 CRC:<0x1d> [Info]: Receiving: sRA field011 \x00 [Info]: Sending : sRN field012 CRC:<0x1e> [Info]: Receiving: sRA field012 \x00 [Info]: Sending : sRN field013 CRC:<0x1f> [Info]: Receiving: sRA field013 \x00 [Info]: Sending : sRN field014 CRC:<0x18> [Info]: Receiving: sRA field014 \x00 [Info]: Sending : sRN field015 CRC:<0x19> [Info]: Receiving: sRA field015 \x00 [Info]: Sending : sRN field016 CRC:<0x1a> [Info]: Receiving: sRA field016 \x00 [Info]: Sending : sRN field017 CRC:<0x1b> [Info]: Receiving: sRA field017 \x00 [Info]: Sending : sRN field018 CRC:<0x14> [Info]: Receiving: sRA field018 \x00 [Info]: Sending : sRN field019 CRC:<0x15> [Info]: Receiving: sRA field019 \x00 [Info]: Sending : sRN field020 CRC:<0x1f> [Info]: Receiving: sRA field020 \x00 [Info]: Sending : sRN field021 CRC:<0x1e> [Info]: Receiving: sRA field021 \x00 [Info]: Sending : sRN field022 CRC:<0x1d> [Info]: Receiving: sRA field022 \x00 [Info]: Sending : sRN field023 CRC:<0x1c> [Info]: Receiving: sRA field023 \x00 [Info]: Sending : sRN field024 CRC:<0x1b> [Info]: Receiving: sRA field024 \x00 [Info]: Sending : sRN field025 CRC:<0x1a> [Info]: Receiving: sRA field025 \x00 [Info]: Sending : sRN field026 CRC:<0x19> [Info]: Receiving: sRA field026 \x00 [Info]: Sending : sRN field027 CRC:<0x18> [Info]: Receiving: sRA field027 \x00 [Info]: Sending : sRN field028 CRC:<0x17> [Info]: Receiving: sRA field028 \x00 [Info]: Sending : sRN field029 CRC:<0x16> [Info]: Receiving: sRA field029 \x00 [Info]: Sending : sRN LIDinputstate CRC:<0x0f> [Info]: Receiving: sRA LIDinputstate \x00\x00\x00\x4b\xe0\x7d\x00\x00\x00\x00\x00\x01\x07\xb2\x01\x01\x00\x00... [Info]: Safety fieldset response to "sRN LIDinputstate": \x02\x02\x02\x02\x00\x00\x00\x29sRA LIDinputstate \x00\x00\x00K\xe0\x7d\x00\x00\x00\x00\x00\x01\x07\xb2\x01\x01\x00\x00\x01\x00\x09\xa8\xa8J, active fieldset = 0 [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 0 objects [Info]: Safety fieldset 0, pointcounter = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 699, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] [Info]: Safety field 22, type 0 : (0,0), (4.21568e+34,-1.42464e+33), (2.57704e+34,3.33932e+34), (4.21604e+34,1.31415e+33), (3.72505e+34,1.97895e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (-1.86333e+34,3.78421e+34), (1.86517e+34,3.7833e+34), (-1.86217e+34,3.78478e+34), (3.83893e+34,-1.7478e+34), (-9.77761e+33,-4.10319e+34), (-4.09886e+34,9.95776e+33), (3.80584e+34,-1.81873e+34), (2.40529e+34,-3.46509e+34), (-3.43389e+34,-2.44961e+34), (-4.13584e+34,8.28887e+33), (2.45537e+34,-3.42978e+34), (9.19925e+33,4.11655e+34), (-3.34333e+34,2.57185e+34), (3.72505e+34,1.97895e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (-1.86333e+34,3.78421e+34), (1.86517e+34,3.7833e+34), (-1.86217e+34,3.78478e+34), (3.83893e+34,-1.7478e+34), (3.2591e+32,4.21796e+34), (3.77409e+34,1.88375e+34), (7.94283e+33,-4.14262e+34), (3.74798e+34,1.93517e+34), (-3.43389e+34,-2.44961e+34), (-3.17734e+34,-2.7743e+34), (-3.16938e+34,2.78339e+34), (3.77776e+34,1.87637e+34), (-3.17734e+34,-2.7743e+34), (3.72505e+34,1.97895e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (-3.17734e+34,-2.7743e+34), (1.86517e+34,3.7833e+34), (-1.86217e+34,3.78478e+34), (3.83893e+34,-1.7478e+34), (-4.08247e+34,-1.06096e+34), (8.07033e+33,4.14016e+34), (1.86517e+34,3.7833e+34), (-4.03472e+34,1.23016e+34), (-1.30689e+34,-4.01052e+34), (9.55959e+33,-4.10833e+34), (-4.138e+34,-8.18045e+33), (-1.83021e+34,-3.80034e+34), (2.25275e+31,4.21808e+34), 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(9.55583e+33,-4.10842e+34), (4.21604e+34,1.31415e+33), (1.2e+31,4.21808e+34), (-1.64823e+34,-3.88273e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34), (1.86517e+34,3.7833e+34) [Info]: Sending : sWN LMDscandatacfg 0x1f 0x00 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 0x00 0x01 CRC:<0x5c> [Info]: Receiving: sWA LMDscandatacfg [Info]: Sending : sRN LMDscandatacfg CRC:<0x67> [Info]: Receiving: sRA LMDscandatacfg \x1f\x00\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01 [Info]: Sending : sWN FREchoFilter 0x01 CRC:<0x7e> [Info]: Receiving: sWA FREchoFilter [Info]: sick_lms_5xx: activating field monitoring by lferec messages [Info]: sick_lms_5xx: activating field monitoring by lidoutputstate messages [Info]: sick_lms_5xx: activating field monitoring by lidinputstate messages [Info]: Sending : sEN LFErec 0x01 CRC:<0x42> [Info]: Receiving: sEA LFErec \x01 [Info]: Sending : sEN LIDoutputstate 0x01 CRC:<0x50> [Info]: Receiving: sEA LIDoutputstate \x01 [Info]: Sending : sEN LIDinputstate 0x01 CRC:<0x39> [Info]: Receiving: sEA LIDinputstate \x01 [Info]: Sending : sMN LMCstartmeas CRC:<0x68> [Info]: Receiving: sAN LMCstartmeas \x00 [Info]: Sending : sMN Run CRC:<0x19> [Info]: Receiving: sAN Run \x01 [Info]: Sending : sEN LMDscandata 0x01 CRC:<0x33> [Info]: Receiving: sEA LMDscandata \x01 ROS_DEBUG: Starting scan data ....

ROS_INFO: SickScanServices: ros services initialized ROS_INFO: Setup completed, sick_scan_xd is up and running. [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(0,0,0,0,0,0,0,0), count=(0,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(0,0,0,0,0,0,0,0), count=(0,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects ROS_INFO: Software PLL locking started, mapping ticks to system time. [Info]: 1 / 6 packets dropped. Software PLL not yet locked. [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: apiTestLIDoutputstateMsgCallback(apiHandle:0000023FB32A5260): LIDoutputstate message, state=(1,1,1,1,1,1,0,0), count=(1,11,11,11,11,11,0,0) [Info]: apiTestVisualizationMarkerMsgCallback(apiHandle:0000023FB32A5260): VisualizationMarker message, 12 objects [Info]: 2 / 6 packets dropped. Software PLL not yet locked. [Info]: 3 / 6 packets dropped. Software PLL not yet locked. [Info]: 4 / 6 packets dropped. Software PLL not yet locked. [Info]: 5 / 6 packets dropped. Software PLL not yet locked. ROS_INFO: Software PLL is ready and locked now! [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback...

ouyangziyao commented 1 year ago

This is sick Ims 5xx.launch file. I see you answer about min_angle and max_angle from Google. Is there a error in launch file?

image

image

rostest commented 1 year ago

Thank you for reporting this. Please use parameter min_ang und max_ang from the default launchfile for LMS 5xx (i.e. sick_lms_5xx.launch):

        <param name="min_ang" type="double" value="-1.658062789" />
        <param name="max_ang" type="double" value="1.658062789" />

The safety field configuration with 699 points in field 22 looks weird. We recommend to configure all safety fields with SOPAS ET. Please post all log messages (i.e. the complete startup sequence) in case of further problems.

ouyangziyao commented 1 year ago

Thanks very much for your reply. I followed the steps of INSTALL-GENERIC.md and GETTINGSTARTED.md in zip file. But I can't see the coordinates in CMD using the steps of windows with no ros. So I tried the steps of linux with ros1. I can see the point cloud flickering in the rviz interface, unlike some blog tutorials I've read where the point cloud is displayed all the time. The zip.zip file contains my launch file, my procedure and log information.  Looking forward to your reply.

------------------ 原始邮件 ------------------ 发件人: "SICKAG/sick_scan_xd" @.>; 发送时间: 2023年4月17日(星期一) 晚上6:18 @.>; @.**@*.**@*.***>; 主题: Re: [SICKAG/sick_scan_xd] ROS_INFO: Software PLL is ready and locked now! (Issue #161)

Thank you for reporting this. Please use parameter min_ang und max_ang from the default launchfile for LMS 5xx (i.e. sick_lms_5xx.launch): <param name="min_ang" type="double" value="-1.658062789" /> <param name="max_ang" type="double" value="1.658062789" />
The safety field configuration with 699 points in field 22 looks weird. We recommend to configure all safety fields with SOPAS ET. Please post all log messages (i.e. the complete startup sequence) in case of further problems.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

从QQ邮箱发来的超大附件

zip.zip (37.08M, 无限期)进入下载页面：https://mail.qq.com/cgi-bin/ftnExs_download?k=0c613832def597cad7f9768c44370b1848155c07530f00561d595a0b001a0b00070515545a060e1a54585a5451535c070004590a6230394d591116480b47390a&t=exs_ftn_download&code=0a82b797

rostest commented 1 year ago

Thanks for your reply and logfiles. The logfile MyLog.txt in the zipfile shows that pointcloud messages are received, i.e. the callback for pointcloud messages is executed:

[Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback...
[Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback...
[Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback...
[Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback...

This indicates that the driver is working as expected. To view the coordinates of the lidar data, you need to convert the pointcloud message for further processing. Use the conversion functions in files sick_scan_xd_api_test.cpp, sick_scan_api_converter.cpp and api_impl.cpp as an example, e.g. functions plotPointcloudToJpeg, SickScanApiConverter::convertPointCloudMsg or convertPointCloudMsg for processing of pointcloud messages received in apiTestCartesianPointCloudMsgCallback.

Note that sick_scan_api_test.cpp is just an example about how to receive and process pointcloud and other messages. It uses function plotPointcloudToJpeg to plot the coordinates into a jpg-image. Function plotPointcloudToJpeg in sick_scan_xd_api_test.cpp shows how to convert a pointcloud message to cartesian coordinates. We recommend to use this function as a starting point for your own data processing.

When viewing laserscan messages in rviz, the view can flicker, since the lidar generates multiple layers for each elevation angle, but laserscan messages support only one layer. You can avoid flickering by increasing the decay time in rviz. But we recommend to use pointcloud messages, because they contain a full scan of all layers. Laserscan messages are mostly supported for downward compatibility.

The safety field configuration with 699 points in field 22 looks strange. We recommend to use SOPAS ET for configuration.

ouyangziyao commented 1 year ago

Thanks you. Is there a sample program for measuring distance with Lms511? Can I use the formula that is sqrt(x²+y²) to measuring the objects are the front of Lms511  after I set Lms511 to (0,0)?

---Original--- From: @.> Date: Tue, Apr 18, 2023 17:41 PM To: @.>; Cc: @.**@.>; Subject: Re: [SICKAG/sick_scan_xd] ROS_INFO: Software PLL is ready and lockednow! (Issue #161)

Thanks for your reply and logfiles. The logfile MyLog.txt in the zipfile shows that pointcloud messages are received, i.e. the callback for pointcloud messages is executed: [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestPolarPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback... [Info]: apiTestCartesianPointCloudMsgCallback(apiHandle:0000023FB32A5260): 381x5 pointcloud callback...
This indicates that the driver is working as expected. To view the coordinates of the lidar data, you need to convert the pointcloud message for further processing. Use the conversion functions in files sick_scan_xd_api_test.cpp, sick_scan_api_converter.cpp and api_impl.cpp as an example, e.g. functions plotPointcloudToJpeg, SickScanApiConverter::convertPointCloudMsg or convertPointCloudMsg for processing of pointcloud messages received in apiTestCartesianPointCloudMsgCallback.

Note that sick_scan_api_test.cpp is just an example about how to receive and process pointcloud and other messages. It uses function plotPointcloudToJpeg to plot the coordinates into a jpg-image. Function plotPointcloudToJpeg in sick_scan_xd_api_test.cpp shows how to convert a pointcloud message to cartesian coordinates. We recommend to use this function as a starting point for your own data processing.

When viewing laserscan messages in rviz, the view can flicker, since the lidar generates multiple layers for each elevation angle, but laserscan messages support only one layer. You can avoid flickering by increasing the decay time in rviz. But we recommend to use pointcloud messages, because they contain a full scan of all layers. Laserscan messages are mostly supported for downward compatibility.

The safety field configuration with 699 points in field 22 looks strange. We recommend to use SOPAS ET for configuration.

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rostest commented 1 year ago

Sure, you can use the formula r = sqrt(x²+y²+z²) to calculate the distance from the coordinates (x, y, z) of the cartesian pointcloud messages. Or you can use the range field of the polar pointcloud messages. Both values are identical.

ouyangziyao commented 1 year ago

I'm sorry to bother you once again.  I have added some of my own code to this program. But on the CMD, the program keeps stopping at

[ INFO] [1682040974.301047169]: 1 / 6 packets dropped. [ INFO] [1682040974.317386553]: 2 / 6 packets dropped. software PLL not yet locked. [ INFO] [1682040974.336678858]: 3 / 6 packets dropped. software PLL not yet locked. [ INFO] [1682040974.357351262]: 4 / 6 packets dropped. software PLL not yet locked. [ INFO] [1682040974.376593204]: 5 / 6 packets dropped. software PLL not yet locked.

I don't know what this log means? The code I added contains some information output, but the command line does not show the information I added. Could you tell me what this log means? I can't find the answer in the search engine. This file is a log message I generated with ros1 on ubuntu. rviz can display the point cloud message normally. After that, I also recorded some pcd files using ros.

------------------ 原始邮件 ------------------ 发件人: "SICKAG/sick_scan_xd" @.>; 发送时间: 2023年4月20日(星期四) 下午3:42 @.>; @.**@*.**@*.***>; 主题: Re: [SICKAG/sick_scan_xd] ROS_INFO: Software PLL is ready and locked now! (Issue #161)

Closed #161 as completed.

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michael1309 commented 1 year ago

The so-called software PLL is used to synchronize the so-called ticks from the lidar to the host system time. At the beginning, values are collected in the software PLL until enough data are collected for the alignment (typically 6 or 7). This is indicated by the message 

<index> / 6 packets dropped. software PLL not yet locked.

This behavior and display is correct and intentional. You can read more information here: https://github.com/SICKAG/sick_scan_xd/blob/master/doc/software_pll.md

In particular you can find https://github.com/SICKAG/sick_scan_xd/blob/master/doc/software_pll.md#how-software-pll-works the explanation, why here at the beginning is waited.