How to obtain the status of a LiDAR (LMS511)sensor when it fails due to dust contamination?

[hoopp]

Sopas: devicestatus 35 Device contaminated,warning threshold reached-Please clean front screen Sending : sRN SCdevicestate Receiving: sRA SCdevicestate 0 or sRA SCdevicestate 1

I tried, but the returned status is not the desired dirty state. How to obtain the status of a LiDAR (LMS511)sensor when it fails due to dust contamination?

[rostest]

Thanks for your message. You can use SOPAS command sRA GetContaminationResult to read the contamination status.

Use ros service "ColaMsg" to send the SOPAS command:

# ROS-1: 
rosservice call /sick_lms_5xx/ColaMsg "{request: 'sMN SetAccessMode 3 F4724744'}" # switch to authorized client
rosservice call /sick_lms_5xx/ColaMsg "{request: 'sRA GetContaminationResult'}" # read contamination status
# ROS-2: 
ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sMN SetAccessMode 3 F4724744'}" # switch to authorized client
ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRA GetContaminationResult'}" # read contamination status

An additional service to get the contamination status will be added in the next release.

[zhouerlin]

Thanks for your message. You can use SOPAS command sRA GetContaminationResult to read the contamination status.

Use ros service "ColaMsg" to send the SOPAS command:

# ROS-1: 
rosservice call /sick_lms_5xx/ColaMsg "{request: 'sMN SetAccessMode 3 F4724744'}" # switch to authorized client
rosservice call /sick_lms_5xx/ColaMsg "{request: 'sRA GetContaminationResult'}" # read contamination status
# ROS-2: 
ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sMN SetAccessMode 3 F4724744'}" # switch to authorized client
ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRA GetContaminationResult'}" # read contamination status

An additional service to get the contamination status will be added in the next release.

use SOPAS command sRA GetContaminationResult to read the contamination status, I tried several times, when SetAccessMode , the connection will be lost，and Calling the GetContinuationResult command will block.

Partial related logs： [sick_generic_caller-1] [INFO] [1693971162.409436719] [sick_scan]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744" [sick_generic_caller-1] [INFO] [1693971162.409504501] [sick_scan]: Sending : sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3> [sick_generic_caller-1] [INFO] [1693971162.411948097] [sick_scan]: Receiving: sAN SetAccessMode \x01 [sick_generic_caller-1] [INFO] [1693971162.412006327] [sick_scan]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode \x01" [sick_generic_caller-1] [INFO] [1693971162.412017513] [sick_scan]: SickScanServices: request: "sMN SetAccessMode 3 F4724744" [sick_generic_caller-1] [INFO] [1693971162.412024155] [sick_scan]: SickScanServices: response: "sAN SetAccessMode \x01" [sick_generic_caller-1] [WARN] [1693971167.413414562] [sick_scan]: Timeout during waiting for new datagram [sick_generic_caller-1] [ERROR] [1693971167.413469545] [sick_scan]: Read Error when getting datagram: 1 [sick_generic_caller-1] [ERROR] [1693971167.413487959] [sick_scan]: ## ERROR SickScanMonitor::checkState(): read timeout after 5.00067 sec, timeout (5 sec) exceeded. [sick_generic_caller-1] [ERROR] [1693971167.413495585] [sick_scan]: ## ERROR in sick_scan_xd: restarting scanner after read timeout [sick_generic_caller-1] [WARN] [1693971167.413501557] [sick_scan]: Disconnecting TCP-Connection. [sick_generic_caller-1] [ERROR] [1693971167.414138047] [sick_scan]: Tcp::readInputData: Read 0 bytes, connection is lost! [sick_generic_caller-1] [INFO] [1693971167.414186124] [sick_scan]: SickThread TcpRecvThread finished (flags: threadShouldRun=0, endThread=0). [sick_generic_caller-1] [INFO] [1693971172.414508443] [sick_scan]: sick_scan_xd: Tcp::open: connecting to 192.168.6.200:2112 ... [sick_generic_caller-1] [INFO] [1693971172.415268493] [sick_scan]: sick_scan_xd Tcp::open: connected to 192.168.6.200:2112 [sick_generic_caller-1] [INFO] [1693971172.415272859] [sick_scan]: SickThread TcpRecvThread started. [sick_generic_caller-1] [INFO] [1693971172.415790217] [sick_scan]: Parameter setting for <active_echo: 0> [sick_generic_caller-1] [INFO] [1693971172.415993831] [sick_scan]: Sending : sRN SCdevicestate CRC:<0x30> [sick_generic_caller-1] [INFO] [1693971172.418186877] [sick_scan]: Receiving: sRA SCdevicestate \x01 [sick_generic_caller-1] [INFO] [1693971172.418596589] [sick_scan]: checkColaDialect: lidar response in configured Cola-dialect Cola-B ...... [sick_generic_caller-1] [INFO] [1693971189.562719623] [sick_scan]: SickScanServices: Sending request "sRA GetContaminationResult" [sick_generic_caller-1] [INFO] [1693971189.562786264] [sick_scan]: Sending : sRA GetContaminationResult CRC:<0x7f> [sick_generic_caller-1] [INFO] [1693971189.563499763] [sick_scan]: Receiving: sFA\x00\x0b [sick_generic_caller-1] [WARN] [1693971189.563532816] [sick_scan]: Error Sopas answer mismatch: Error unexpected Sopas answer for request sRA GetContaminationResult CRC:<0x..., received answer: "sFA\x00\x0b", expected patterns: "sRA GetContaminationResult"

[rostest]

Thanks for reporting this. Sorry, my fault - the SOPAS command is sRN ContaminationResult, not sRA GetContaminationResult.

Please try again with

rosservice call /sick_mrs_1xxx/ColaMsg "{request: 'sRN ContaminationResult'}" # ROS-1
ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRA GetContaminationResult'}" # ROS-2

Note that this command is only supported by MRS-1000, LMS-1000, multiScan, picoScan.

[zhouerlin]

Does this command (sRN ContaminationResult) not support LMS5xx? If not supported, how can I obtain the dirty status of the lms5xx device?

[rostest]

For LMS-1xx and LMS-5xx the SOPAS command "sRN LCMstate" can be used to query the contamination status:

rosservice call /sick_mrs_1xxx/ColaMsg "{request: 'sRN LCMstate'}" # ROS-1
ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRN LCMstate'}" # ROS-2

See the telegram listing https://cdn.sick.com/media/docs/7/27/927/telegram_listing_telegram_listing_ranging_sensors_lms1xx_lms5xx_tim2xx_tim5xx_tim7xx_lms1000_mrs1000_mrs6000_nav310_ld_oem15xx_ld_lrs36xx_lms4000_lrs4000_multiscan100_en_im0045927.pdf for details.

[zhouerlin]

This command works, thank you very much！

[rostest]

Thanks for your friendly feedback!

[mustafaktaas]

Does this command (sRN LCMstate) not support sick_tim_7xx? If not supported, how can I obtain the dirty status of the sick_tim_7xx device?

[rostest]

@mustafaktaas Thanks for your feedback. Tim7xx devices do not support command sRN LCMstate resp. a contamination status according to the telegram listing: