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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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LMS4xxx Timeout Millisec Startup #199

Closed manuelrucci7 closed 1 year ago

manuelrucci7 commented 1 year ago

Hi, I got an issue in using the LMS4xxx in software mode. To be precise I can switch on and off the laser using 

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

However after a certain amount of time the laser ros package (sick_scan_xd) stop working because it enters in a timeout. The timeout is the read_timeout_millisec_startup. The issue appears after having started the laser, then send it to standby mode. From this moment the counter read_timeout_millisec_startup start counting and the laser ros driver stop.

The software says that there is a timeout 

[WARN] [1690808520.011202899] [sick_scan]: Timeout during waiting for new datagram
[ERROR] [1690808520.011333462] [sick_scan]: Read Error when getting datagram: 1

that I think is due to the fact that the laser does not send any data because it is in standby mode.

Is there a way to bypass the "read_timeout_millisec_startup" timeout?

I was also thinking to send to the laser a standby message every 10s to keep it alive. Do u know if there is better approach?

I am using the latest master branch.

michael1309 commented 1 year ago

You can set the timeout to a very large value in the launch file. See the attached screenshot for more information.

image
manuelrucci7 commented 1 year ago

Ok perfect