search

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
99 stars 84 forks source link

LMS511_ros #203

Closed zhshwind closed 12 months ago

zhshwind commented 1 year ago

<?xml version="1.0"?>

![微信图片_20230824102137](https://github.com/SICKAG/sick_scan_xd/assets/67258649/66d39ad5-2b8b-4204-8e48-a350f97fe597)
rostest commented 1 year ago

Thank you for your message. Does your LMS511 lidar work with the most recent lidar firmware and the latest sick_scan_xd release with default settings and default launchfile?

Please send a complete logfile of the startup sequence, i.e. /home/wika/.ros/*/wika*.log resp. the complete console output from the driver. The startup sequence in the logfile should look like this example:

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /sick_lms_5xx/activate_lferec: True
 * /sick_lms_5xx/activate_lidinputstate: True
 * /sick_lms_5xx/activate_lidoutputstate: True
 * /sick_lms_5xx/add_transform_check_dynamic_updates: False
 * /sick_lms_5xx/add_transform_xyz_rpy: 0,0,0,0,0,0
 * /sick_lms_5xx/client_authorization_pw: F4724744
 * /sick_lms_5xx/cloud_topic: cloud
 * /sick_lms_5xx/encoder_mode: -1
 * /sick_lms_5xx/filter_echos: 2
 * /sick_lms_5xx/frame_id: cloud
 * /sick_lms_5xx/hostname: 127.0.0.1
 * /sick_lms_5xx/intensity: True
 * /sick_lms_5xx/intensity_resolution_16bit: False
 * /sick_lms_5xx/max_ang: 1.658062789
 * /sick_lms_5xx/message_monitoring_enabled: True
 * /sick_lms_5xx/min_ang: -1.658062789
 * /sick_lms_5xx/min_intensity: 0.0
 * /sick_lms_5xx/port: 2112
 * /sick_lms_5xx/range_filter_handling: 0
 * /sick_lms_5xx/range_max: 100.0
 * /sick_lms_5xx/range_min: 0.05
 * /sick_lms_5xx/read_timeout_millisec_default: 5000
 * /sick_lms_5xx/read_timeout_millisec_kill_node: 150000
 * /sick_lms_5xx/read_timeout_millisec_startup: 120000
 * /sick_lms_5xx/ros_qos: -1
 * /sick_lms_5xx/scanner_type: sick_lms_5xx
 * /sick_lms_5xx/start_services: True
 * /sick_lms_5xx/sw_pll_only_publish: True
 * /sick_lms_5xx/timelimit: 5
 * /sick_lms_5xx/use_binary_protocol: True
 * /sick_lms_5xx/use_generation_timestamp: True

NODES
  /
    sick_lms_5xx (sick_scan/sick_generic_caller)

process[sick_lms_5xx-1]: started with pid [12049]
[ INFO] [1692858706.333820664]: sick_generic_caller V. 2.9.1
[ INFO] [1692858706.345408662]: Range filter configuration: range_min=0.05, range_max=100, range_filter_handling=0
[ INFO] [1692858706.345911626]: Found sopas_protocol_type param overwriting default protocol:
[ INFO] [1692858706.345935714]: Binary protocol activated
[ INFO] [1692858706.346596980]: Start initialising scanner [Ip: 192.168.0.1] [Port:2112]
[ INFO] [1692858706.365800643]: Publishing on topic "/sick_lms_5xx/lferec", qos=10
[ INFO] [1692858706.366290187]: Publishing on topic "/sick_lms_5xx/lidoutputstate", qos=10
[ INFO] [1692858706.366637419]: Publishing on topic "/sick_lms_5xx/marker", qos=10
[ INFO] [1692858706.369736604]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[ INFO] [1692858706.369779485]: SickCloudTransform: azimuth_offset = 0 [deg]
[ INFO] [1692858706.369798139]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[ INFO] [1692858706.369820581]: SickCloudTransform: apply 3x3 rotation = false
[ INFO] [1692858706.369843970]: SickCloudTransform: additional translation = (0,0,0)
[ INFO] [1692858706.369859431]: SickCloudTransform: check_dynamic_updates = false
[ INFO] [1692858706.369884011]: Publishing lidar pointcloud2 to cloud
[ INFO] [1692858706.370151050]: Publishing on topic "/cloud", qos=10
[ INFO] [1692858706.371800040]: Publishing on topic "/sick_lms_5xx/imu", qos=10
[ INFO] [1692858706.372970094]: Publishing on topic "/sick_lms_5xx/encoder", qos=10
[ INFO] [1692858706.373463655]: Publishing on topic "/sick_lms_5xx/scan", qos=10
[ INFO] [1692858706.373993973]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[ INFO] [1692858706.374022881]: SickCloudTransform: azimuth_offset = 0 [deg]
[ INFO] [1692858706.374048557]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[ INFO] [1692858706.374057632]: SickCloudTransform: apply 3x3 rotation = false
[ INFO] [1692858706.374080098]: SickCloudTransform: additional translation = (0,0,0)
[ INFO] [1692858706.374096905]: SickCloudTransform: check_dynamic_updates = false
[ INFO] [1692858706.374125067]: sick_scan_xd: Tcp::open: connecting to 127.0.0.1:2112 ...
[ INFO] [1692858706.374239862]: ServerSocket (port 2112): connected to client.
[ INFO] [1692858706.374244063]: sick_scan_xd Tcp::open: connected to 127.0.0.1:2112
[ INFO] [1692858706.374755378]: SickThread TcpRecvThread started.
[ INFO] [1692858706.376074299]: Parameter setting for <active_echo: 0>
[ INFO] [1692858706.376513524]: Sending  : <STX><STX><STX><STX><Len=0017>sRN SCdevicestate CRC:<0x30>
[ INFO] [1692858706.377349963]: Receiving: <STX>sRA SCdevicestate \x01<ETX>
[ INFO] [1692858706.377382527]: checkColaDialect: lidar response in configured Cola-dialect Cola-B
[ INFO] [1692858706.578127116]: Sending  : <STX><STX><STX><STX><Len=0023>sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3>
[ INFO] [1692858706.579196587]: Receiving: <STX>sAN SetAccessMode \x01<ETX>
[ INFO] [1692858706.779873344]: Sending  : <STX><STX><STX><STX><Len=0015>sWN EIHstCola 0x01 CRC:<0x09>
[ INFO] [1692858706.780256298]: Receiving: <STX>sWA EIHstCola <ETX>
[ INFO] [1692858706.980678118]: Sending  : <STX><STX><STX><STX><Len=0019>sRN FirmwareVersion CRC:<0x24>
[ INFO] [1692858706.981522803]: Receiving: <STX>sRA FirmwareVersion \x00\x05\x56\x33\x2e\x31\x33<ETX>
[ INFO] [1692858707.182307621]: Sending  : <STX><STX><STX><STX><Len=0017>sRN SCdevicestate CRC:<0x30>
[ INFO] [1692858707.208130475]: Receiving: <STX>sRA SCdevicestate \x01<ETX>
[ INFO] [1692858707.415396128]: Sending  : <STX><STX><STX><STX><Len=0010>sRN ODoprh CRC:<0x41>
[ INFO] [1692858707.416132870]: Receiving: <STX>sRA ODoprh \x00\x00\x01\x61<ETX>
[ INFO] [1692858707.617864532]: Sending  : <STX><STX><STX><STX><Len=0010>sRN ODpwrc CRC:<0x52>
[ INFO] [1692858707.618195227]: Receiving: <STX>sRA ODpwrc \x00\x00\x00\x17<ETX>
[ INFO] [1692858707.818713482]: Sending  : <STX><STX><STX><STX><Len=0016>sRN LocationName CRC:<0x55>
[ INFO] [1692858707.819500530]: Receiving: <STX>sRA LocationName \x00\x0b\x6e\x6f\x74\x20\x64\x65\x66\x69\x6e\x65\x64<ETX>
[ INFO] [1692858707.819909866]: Sending  : <STX><STX><STX><STX><Len=0018>sRN LMPoutputRange CRC:<0x5e>
[ INFO] [1692858707.820810991]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x06\x83\xff\xff\x3c\xb0\x00\x1c\x3a\x90<ETX>
[ INFO] [1692858707.820869367]: Angle resolution of scanner is 0.1667 [deg]  (in 1/10000th deg: 1667)
[ INFO] [1692858707.820895489]: [From:To] -5 [deg] to 185 [deg] (in 1/10000th deg: from -50000 to 1850000)
[ INFO] [1692858707.820914992]: MIN_ANG: -1.65806 [rad] -95 [deg]
[ INFO] [1692858707.820942132]: MAX_ANG: 1.65806 [rad] 95 [deg]
[ INFO] [1692858707.820970845]: Sending  : <STX><STX><STX><STX><Len=0033>sWN LMPoutputRange 0x00 0x01 0x00 0x00 0x06 0x83 0xff 0xff 0x3c 0xb0 0x00 0x1c 0x3a 0x90 CRC:<0xc5>
[ INFO] [1692858707.821835651]: Receiving: <STX>sWA LMPoutputRange <ETX>
[ INFO] [1692858707.821855370]: Sending  : <STX><STX><STX><STX><Len=0018>sRN LMPoutputRange CRC:<0x5e>
[ INFO] [1692858707.822837866]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x06\x83\xff\xff\x3c\xb0\x00\x1c\x3a\x90<ETX>
[ INFO] [1692858707.822877029]: Angle resolution of scanner is 0.1667 [deg]  (in 1/10000th deg: 1667)
[ INFO] [1692858707.823811762]: MIN_ANG (after command verification): -1.65806 [rad] -95 [deg]
[ INFO] [1692858707.823839462]: MAX_ANG (after command verification): 1.65806 [rad] 95 [deg]
[ INFO] [1692858707.824005283]: LMS 5xx detected overwriting output channel flag ID
[ INFO] [1692858707.824033456]: LMS 5xx detected overwriting resolution flag (only 8 bit supported)
[ INFO] [1692858707.824046440]: Reading safety fields
[ INFO] [1692858707.824215344]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field000 CRC:<0x1d>
[ INFO] [1692858707.824881581]: Receiving: <STX>sRA field000 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x06\x83\xff\xff\x3c\xb0\x02\x01\x00\x01\...
[ INFO] [1692858707.824922468]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field001 CRC:<0x1c>
[ INFO] [1692858707.825843535]: Receiving: <STX>sRA field001 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x06\x83\xff\xff\x3c\xb0\x01\x02\x00\x00\...
[ INFO] [1692858707.825880312]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field002 CRC:<0x1f>
[ INFO] [1692858707.826842990]: Receiving: <STX>sRA field002 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x06\x83\xff\xff\x3c\xb0\x01\x03\x00\x00\...
[ INFO] [1692858707.826879288]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field003 CRC:<0x1e>
[ INFO] [1692858707.827877798]: Receiving: <STX>sRA field003 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x06\x83\xff\xff\x3c\xb0\x03\x04\x00\x00\...
[ INFO] [1692858707.827919965]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field004 CRC:<0x19>
[ INFO] [1692858707.828860508]: Receiving: <STX>sRA field004 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00\...
[ INFO] [1692858707.828898840]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field005 CRC:<0x18>
[ INFO] [1692858707.829956957]: Receiving: <STX>sRA field005 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00\...
[ INFO] [1692858707.829999019]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field006 CRC:<0x1b>
[ INFO] [1692858707.830821733]: Receiving: <STX>sRA field006 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00\...
[ INFO] [1692858707.830847617]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field007 CRC:<0x1a>
[ INFO] [1692858707.831863319]: Receiving: <STX>sRA field007 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00\...
[ INFO] [1692858707.831898687]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field008 CRC:<0x15>
[ INFO] [1692858707.832824278]: Receiving: <STX>sRA field008 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00\...
[ INFO] [1692858707.832858690]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field009 CRC:<0x14>
[ INFO] [1692858707.845993205]: Receiving: <STX>sRA field009 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00\...
[ INFO] [1692858707.846049540]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field010 CRC:<0x1c>
[ INFO] [1692858707.853252635]: Receiving: <STX>sRA field010 \x00<ETX>
[ INFO] [1692858707.853306586]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field011 CRC:<0x1d>
[ INFO] [1692858707.863917011]: Receiving: <STX>sRA field011 \x00<ETX>
[ INFO] [1692858707.863953635]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field012 CRC:<0x1e>
[ INFO] [1692858707.864906212]: Receiving: <STX>sRA field012 \x00<ETX>
[ INFO] [1692858707.864948188]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field013 CRC:<0x1f>
[ INFO] [1692858707.865914246]: Receiving: <STX>sRA field013 \x00<ETX>
[ INFO] [1692858707.865952212]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field014 CRC:<0x18>
[ INFO] [1692858707.866866647]: Receiving: <STX>sRA field014 \x00<ETX>
[ INFO] [1692858707.866904795]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field015 CRC:<0x19>
[ INFO] [1692858707.867880998]: Receiving: <STX>sRA field015 \x00<ETX>
[ INFO] [1692858707.867917846]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field016 CRC:<0x1a>
[ INFO] [1692858707.868848090]: Receiving: <STX>sRA field016 \x00<ETX>
[ INFO] [1692858707.868883547]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field017 CRC:<0x1b>
[ INFO] [1692858707.869823954]: Receiving: <STX>sRA field017 \x00<ETX>
[ INFO] [1692858707.869863413]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field018 CRC:<0x14>
[ INFO] [1692858707.871421217]: Receiving: <STX>sRA field018 \x00<ETX>
[ INFO] [1692858707.871440593]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field019 CRC:<0x15>
[ INFO] [1692858707.876315848]: Receiving: <STX>sRA field019 \x00<ETX>
[ INFO] [1692858707.876344142]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field020 CRC:<0x1f>
[ INFO] [1692858707.878554615]: Receiving: <STX>sRA field020 \x00<ETX>
[ INFO] [1692858707.878623447]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field021 CRC:<0x1e>
[ INFO] [1692858707.878968107]: Receiving: <STX>sRA field021 \x00<ETX>
[ INFO] [1692858707.879012452]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field022 CRC:<0x1d>
[ INFO] [1692858707.879945508]: Receiving: <STX>sRA field022 \x00<ETX>
[ INFO] [1692858707.879973649]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field023 CRC:<0x1c>
[ INFO] [1692858707.921133454]: Receiving: <STX>sRA field023 \x00<ETX>
[ INFO] [1692858707.921222516]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field024 CRC:<0x1b>
[ INFO] [1692858707.921595440]: Receiving: <STX>sRA field024 \x00<ETX>
[ INFO] [1692858707.921650397]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field025 CRC:<0x1a>
[ INFO] [1692858707.931215217]: Receiving: <STX>sRA field025 \x00<ETX>
[ INFO] [1692858707.931397366]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field026 CRC:<0x19>
[ INFO] [1692858707.931906966]: Receiving: <STX>sRA field026 \x00<ETX>
[ INFO] [1692858707.932094873]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field027 CRC:<0x18>
[ INFO] [1692858707.932760986]: Receiving: <STX>sRA field027 \x00<ETX>
[ INFO] [1692858707.932797305]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field028 CRC:<0x17>
[ INFO] [1692858707.933489334]: Receiving: <STX>sRA field028 \x00<ETX>
[ INFO] [1692858707.933518593]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field029 CRC:<0x16>
[ INFO] [1692858707.933936460]: Receiving: <STX>sRA field029 \x00<ETX>
[ INFO] [1692858707.933978749]: Sending  : <STX><STX><STX><STX><Len=0017>sRN LIDinputstate CRC:<0x0f>
[ INFO] [1692858707.934143281]: Receiving: <STX>sRA LIDinputstate \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00<ETX>
[ INFO] [1692858707.934177192]: Safety fieldset response to "sRN LIDinputstate": \x02\x02\x02\x02\x00\x00\x00\x1esRA LIDinputstate \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 , active fieldset = 0
[ INFO] [1692858707.934223608]: Safety fieldset 0, pointcounter = [  4, 4, 4, 8, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ INFO] [1692858707.934239063]: Safety field 0, type 2 : (0,0), (0.500719,-0.500544), (0.800012,-0.249449), (0.39979,-0.0995588)
[ INFO] [1692858707.934263745]: Safety field 1, type 1 : (0.249049,-0.021789), (0.249049,-0.221789), (0.449049,-0.221789), (0.449049,-0.021789)
[ INFO] [1692858707.934288292]: Safety field 2, type 1 : (0.252461,0.0279161), (0.393883,-0.113505), (0.535304,0.0279161), (0.393883,0.169338)
[ INFO] [1692858707.934314519]: Safety field 3, type 3 : (0.0435778,0.498097), (0.0435778,-0.501903), (1.54358,-0.501903), (1.54358,0.498097), (0.0435778,0.498097), (0.0435778,-0.501903), (0.343578,-0.501903), (0.343578,0.498097)
[ INFO] [1692858707.934343287]: Sending  : <STX><STX><STX><STX><Len=0032>sWN LMDscandatacfg 0x01 0x00 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 0x00 0x01 CRC:<0x42>
[ INFO] [1692858707.935473859]: Receiving: <STX>sWA LMDscandatacfg <ETX>
[ INFO] [1692858707.935499205]: Sending  : <STX><STX><STX><STX><Len=0018>sRN LMDscandatacfg CRC:<0x67>
[ INFO] [1692858707.936376421]: Receiving: <STX>sRA LMDscandatacfg \x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01<ETX>
[ INFO] [1692858707.937205942]: Sending  : <STX><STX><STX><STX><Len=0018>sWN FREchoFilter 0x02 CRC:<0x7d>
[ INFO] [1692858707.937362433]: Receiving: <STX>sWA FREchoFilter <ETX>
[ INFO] [1692858707.937565735]: sick_lms_5xx: activating field monitoring by lferec messages
[ INFO] [1692858707.937772216]: sick_lms_5xx: activating field monitoring by lidoutputstate messages
[ INFO] [1692858707.937931453]: sick_lms_5xx: activating field monitoring by lidinputstate messages
[ INFO] [1692858707.937960114]: Sending  : <STX><STX><STX><STX><Len=0012>sEN LFErec 0x01 CRC:<0x42>
[ INFO] [1692858707.938380005]: Receiving: <STX>sEA LFErec \x01<ETX>
[ INFO] [1692858707.938417194]: Sending  : <STX><STX><STX><STX><Len=0020>sEN LIDoutputstate 0x01 CRC:<0x50>
[ INFO] [1692858707.939361814]: Receiving: <STX>sEA LIDoutputstate \x01<ETX>
[ INFO] [1692858707.939406387]: Sending  : <STX><STX><STX><STX><Len=0019>sEN LIDinputstate 0x01 CRC:<0x39>
[ INFO] [1692858707.942402254]: Receiving: <STX>sEA LIDinputstate \x01<ETX>
[ INFO] [1692858707.942453813]: Sending  : <STX><STX><STX><STX><Len=0016>sMN LMCstartmeas CRC:<0x68>
[ INFO] [1692858707.943386367]: Receiving: <STX>sAN LMCstartmeas \x00<ETX>
[ INFO] [1692858707.943465791]: Sending  : <STX><STX><STX><STX><Len=0007>sMN Run CRC:<0x19>
[ INFO] [1692858707.943750096]: Receiving: <STX>sAN Run \x01<ETX>
[ INFO] [1692858707.943792056]: Sending  : <STX><STX><STX><STX><Len=0017>sEN LMDscandata 0x01 CRC:<0x33>
[ INFO] [1692858707.944356431]: Receiving: <STX>sEA LMDscandata \x01<ETX>
[ INFO] [1692858707.945336197]: SickScanServices: service "/sick_lms_5xx/ColaMsg" created ("/sick_lms_5xx/ColaMsg")
[ INFO] [1692858707.945707960]: SickScanServices: service "/sick_lms_5xx/ECRChangeArr" created ("/sick_lms_5xx/ECRChangeArr")
[ INFO] [1692858707.946024246]: SickScanServices: service "/sick_lms_5xx/LIDoutputstate" created ("/sick_lms_5xx/LIDoutputstate")
[ INFO] [1692858707.946310825]: SickScanServices: service "/sick_lms_5xx/SCdevicestate" created ("/sick_lms_5xx/SCdevicestate")
[ INFO] [1692858707.946543856]: SickScanServices: service "/sick_lms_5xx/SCreboot" created ("/sick_lms_5xx/SCreboot")
[ INFO] [1692858707.946773229]: SickScanServices: service "/sick_lms_5xx/SCsoftreset" created ("/sick_lms_5xx/SCsoftreset")
[ INFO] [1692858707.946984312]: SickScanServices: service "/sick_lms_5xx/SickScanExit" created ("/sick_lms_5xx/SickScanExit")
[ INFO] [1692858707.947007600]: SickScanServices: ros services initialized
[ INFO] [1692858707.947017828]: Setup completed, sick_scan_xd is up and running. Pointcloud is published on topic "cloud"
[ INFO] [1692858710.279777979]: Software PLL locking started, mapping ticks to system time.
[ INFO] [1692858710.279811918]: 1 / 6 packets dropped. Software PLL not yet locked.
[ INFO] [1692858710.324510009]: 2 / 6 packets dropped. Software PLL not yet locked.
[ INFO] [1692858710.366901123]: 3 / 6 packets dropped. Software PLL not yet locked.
[ INFO] [1692858710.412497939]: 4 / 6 packets dropped. Software PLL not yet locked.
[ INFO] [1692858710.453000749]: 5 / 6 packets dropped. Software PLL not yet locked.
[ INFO] [1692858710.494347991]: Software PLL is ready and locked now!
rostest commented 12 months ago

Closed due to inactivity.