LMS4xxx switch from Software to Free Running

[manuelrucci7]

I am trying to send a ros2 service call to switch the laser into Software mode without using the sopas. I was looking at the documentation

and I tried to send the following command

ros2 service call /scan3/ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sWN IOlasc 1 +500 0 0 0'}"

resulting in this error:

[WARN] [1690796155.255845658] [sick_scan]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0023>sWN IOlasc 0x01 0x20 0x2b 0x05 0x0..., received answer: "sFA\x00\x0a", expected patterns: "sWA IOlasc","sAN IOlasc"

I think the issue might be related to the fact that I need to use binary code. However I tried

ros2 service call /scan3/ColaMsg sick_scan/srv/ColaMsgSrv "{request: '02 02 02 02 00 00 00 16 73 57 4E 20 49 4F 6C 61 73 63 20 01 01 F4 00 00 00 00 00 00 00 20 A5'}"

and it is not working either.

The thing that is strange is that I am using the following command without any issue, to start and stop the laser.

ros2 service call /scan3/ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'LMCstartmeas}"
ros2 service call /scan3/ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'LMCstandby'}"

Do u have any idea what is wrong?

This is the launch file that I am currently using.

<?xml version="1.0"?>
<!--
     **********************************************
     Launch File for LMS 4xxx scanner
     **********************************************
     Start and stop angle is given in [rad]

     Default min_angle is  -35 degree.
     Default max_angle is +35 degree.

     SOPAS angles in lidar coordinates: min_angle = 55 deg, max_angle = 125 deg, delta = 125-55 = 70 deg
     Angle offset -90 degree: (55-90 = -35 deg, 125-90 = +35 deg)
     Angle configuration in ROS coordinates: min_angle = -35 deg, max_angle = +35 deg, delta = 70 deg

     Check IP-address, if you scanner is not found after roslaunch.
-->

<!-- You can launch a LMS_4xxx-scanner on a specific ip address (e.g. 192.68.0.71) using the following example call:

     roslaunch sick_scan sick_lms_4xxx.launch hostname:=192.168.0.71

-->
<!-- Using node option required="true" will close roslaunch after node exits -->

<launch>
    <arg name="hostname" default="192.168.124.103"/>
    <arg name="cloud_topic" default="cloud"/>
    <arg name="frame_id" default="L3"/>
    <node name="sick_lms_4xxx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">

        <!-- default values: -->
        <!--
          <param name="scanner_type" type="string" value="sick_tim_5xx" />
          <param name="min_ang" type="double" value="-2.35619449" />
          <param name="max_ang" type="double" value="2.35619449" />
          <param name="intensity" type="bool" value="True" />
          <param name="skip" type="int" value="0" />
          <param name="time_offset" type="double" value="-0.001" />
          <param name="publish_datagram" type="bool" value="False" />
          <param name="subscribe_datagram" type="bool" value="false" />
          <param name="device_number" type="int" value="0" />
          <param name="range_min" type="double" value="0.05" />
        -->
        <param name="scanner_type" type="string" value="sick_lms_4xxx"/>

        <!-- -20 deg Up -->
        <!--<param name="min_ang" type="double" value="-0.34906585"/>-->

        <!-- +35 deg  Buttom -->
        <!--<param name="max_ang" type="double" value="0.34906585"/>-->

        <param name="min_ang" type="double" value="-0.34906585" />
        <param name="max_ang" type="double" value="0.34906585" />

        <param name="use_binary_protocol" type="bool" value="true"/>
        <param name="range_max" type="double" value="3.5"/>
        <param name="range_min" type="double" value="0.7"/>
        <param name="intensity" type="bool" value="True"/>

        <param name="hostname" type="string" value="$(arg hostname)"/>
        <param name="cloud_topic" type="string" value="$(arg cloud_topic)"/>
        <param name="frame_id" type="str" value="$(arg frame_id)"/>
        <param name="port" type="string" value="2112"/>
        <param name="timelimit" type="int" value="5"/>
        <param name="min_intensity" type="double" value="0.0"/> <!-- Set range of LaserScan messages to infinity, if intensity < min_intensity (default: 0) -->

        <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
        <param name="message_monitoring_enabled" type="bool" value="False" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
        <param name="read_timeout_millisec_default" type="int" value="5000"/>     <!-- 5 sec read timeout in operational mode (measurement mode), default: 5000 milliseconds -->
        <param name="read_timeout_millisec_startup" type="int" value="250000"/>   <!-- 120 sec read timeout during startup (sensor may be starting up, which can take up to 120 sec.), default: 120000 milliseconds -->
        <param name="read_timeout_millisec_kill_node" type="int" value="250000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
        <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->

    </node>

</launch>

[michael1309]

The command requires the authorization level "Authorized Client". We recommend that you first send a command to authorize this level according to the message structure in the attached screenshot.

[michael1309]

See also https://github.com/SICKAG/sick_scan_xd/issues/160 for an example.

[michael1309]

Just a note about sending a binary message like in your example:

Please remove all spaces between the hex values in this case.

[rostest]

@manuelrucci7 I am closing this issue for now. Please do not hesitate to reopen the ticket in case of further issues.