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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).
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SICK Multiscan no data in RViz2 over ROS2 #212

Closed Petopp closed 11 months ago

Petopp commented 11 months ago

Hello togehter,

I am currently trying to interface with a SICK Multiscan LIDAR sensor using ROS2, but I am encountering issues. I am unable to receive data from the sensor, and nothing is displayed when I attempt to visualize the sensor output in RViz2.

Enclosed is the command I use and the output for it. The IP addresses are changed in the SICK Snesor, so I don't see the problem there. I had the same problem with 192.168.0... address.

ros2 launch sick_scan sick_multiscan.launch.py hostname:=192.168.1.1 udp_receiver_ip:=192.168.1.100 
[INFO] [launch]: All log files can be found below /home/petop/.ros/log/2023-09-05-11-34-16-955531-Home-22833
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sick_generic_caller-1]: process started with pid [22834]
[sick_generic_caller-1] [WARN] [1693913657.018942927] [rcl]: Found remap rule 'publish_topic:=/cloud'. This syntax is deprecated. Use '--ros-args --remap publish_topic:=/cloud' instead.
[sick_generic_caller-1] [WARN] [1693913657.018955977] [rcl]: Found remap rule 'publish_topic_all_segments:=/cloud_fullframe'. This syntax is deprecated. Use '--ros-args --remap publish_topic_all_segments:=/cloud_fullframe' instead.
[sick_generic_caller-1] [WARN] [1693913657.018958121] [rcl]: Found remap rule 'publish_frame_id:=world'. This syntax is deprecated. Use '--ros-args --remap publish_frame_id:=world' instead.
[sick_generic_caller-1] [INFO] [1693913657.024292967] [sick_scan]: sick_generic_caller V. 2.9.1
[sick_generic_caller-1] [INFO] [1693913657.024326663] [sick_scan]: Program argument 1: /home/petop/sick_scan_ws/install/sick_scan/lib/sick_scan/sick_generic_caller
[sick_generic_caller-1] [INFO] [1693913657.024331368] [sick_scan]: Program argument 2: /home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch
[sick_generic_caller-1] [INFO] [1693913657.024333996] [sick_scan]: Program argument 3: hostname:=192.168.1.1
[sick_generic_caller-1] [INFO] [1693913657.024336642] [sick_scan]: Program argument 4: udp_receiver_ip:=192.168.1.100
[sick_generic_caller-1] [INFO] [1693913657.024339058] [sick_scan]: Program argument 5: publish_topic:=/cloud
[sick_generic_caller-1] [INFO] [1693913657.024341487] [sick_scan]: Program argument 6: publish_topic_all_segments:=/cloud_fullframe
[sick_generic_caller-1] [INFO] [1693913657.024344017] [sick_scan]: Program argument 7: publish_frame_id:=world
[sick_generic_caller-1] [INFO] [1693913657.024346484] [sick_scan]: Program argument 8: add_transform_xyz_rpy:=0,0,0,0,0,0
[sick_generic_caller-1] [INFO] [1693913657.024348843] [sick_scan]: Program argument 9: --ros-args
[sick_generic_caller-1] [INFO] [1693913657.024352672] [sick_scan]: ==========================================
[sick_generic_caller-1] [INFO] [1693913657.024441031] [sick_scan]: Try loading launchfile : /home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch
[sick_generic_caller-1] [INFO] [1693913657.024640355] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["hostname"]="192.168.0.1"
[sick_generic_caller-1] [INFO] [1693913657.024645711] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["udp_receiver_ip"]=""
[sick_generic_caller-1] [INFO] [1693913657.024649058] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["nodename"]="multiScan"
[sick_generic_caller-1] [INFO] [1693913657.024651706] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["publish_topic"]="/cloud"
[sick_generic_caller-1] [INFO] [1693913657.024654682] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["publish_topic_all_segments"]="/cloud_fullframe"
[sick_generic_caller-1] [INFO] [1693913657.024657647] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["publish_frame_id"]="world"
[sick_generic_caller-1] [INFO] [1693913657.024660413] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["add_transform_xyz_rpy"]="0,0,0,0,0,0"
[sick_generic_caller-1] [INFO] [1693913657.024663250] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["add_transform_check_dynamic_updates"]="false"
[sick_generic_caller-1] [INFO] [1693913657.024666146] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): default_args["laserscan_layer_filter"]="0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0"
[sick_generic_caller-1] [INFO] [1693913657.024692130] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="scanner_type", type="string", value="sick_multiscan"
[sick_generic_caller-1] [INFO] [1693913657.024696810] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="hostname", type="string", value="$(arg hostname)" overwritten by default value "192.168.0.1"
[sick_generic_caller-1] [INFO] [1693913657.024699849] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="hostname", type="string", value="192.168.0.1"
[sick_generic_caller-1] [INFO] [1693913657.024702539] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="port", type="int", value="2115"
[sick_generic_caller-1] [INFO] [1693913657.024705227] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="udp_receiver_ip", type="string", value="$(arg udp_receiver_ip)" overwritten by default value ""
[sick_generic_caller-1] [INFO] [1693913657.024718836] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="udp_receiver_ip", type="string", value=""
[sick_generic_caller-1] [INFO] [1693913657.024721475] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="udp_sender", type="string", value=""
[sick_generic_caller-1] [INFO] [1693913657.024723902] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="udp_port", type="int", value="2115"
[sick_generic_caller-1] [INFO] [1693913657.024726711] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="publish_topic", type="string", value="$(arg publish_topic)" overwritten by default value "/cloud"
[sick_generic_caller-1] [INFO] [1693913657.024729137] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="publish_topic", type="string", value="/cloud"
[sick_generic_caller-1] [INFO] [1693913657.024731961] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="publish_topic_all_segments", type="string", value="$(arg publish_topic_all_segments)" overwritten by default value "/cloud_fullframe"
[sick_generic_caller-1] [INFO] [1693913657.024734682] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="publish_topic_all_segments", type="string", value="/cloud_fullframe"
[sick_generic_caller-1] [INFO] [1693913657.024738377] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="segment_count", type="int", value="12"
[sick_generic_caller-1] [INFO] [1693913657.024740985] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="publish_frame_id", type="string", value="$(arg publish_frame_id)" overwritten by default value "world"
[sick_generic_caller-1] [INFO] [1693913657.024743628] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="publish_frame_id", type="string", value="world"
[sick_generic_caller-1] [INFO] [1693913657.024746104] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="udp_input_fifolength", type="int", value="20"
[sick_generic_caller-1] [INFO] [1693913657.024748603] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_output_fifolength", type="int", value="20"
[sick_generic_caller-1] [INFO] [1693913657.024751252] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="verbose_level", type="int", value="1"
[sick_generic_caller-1] [INFO] [1693913657.024753804] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="measure_timing", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1693913657.024756685] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="export_csv", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024758993] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="export_udp_msg", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024761902] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="logfolder", type="string", value=""
[sick_generic_caller-1] [INFO] [1693913657.024764266] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="send_udp_start", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024766678] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="send_udp_start_string", type="string", value="magicalActivate"
[sick_generic_caller-1] [INFO] [1693913657.024773328] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="udp_timeout_ms", type="int", value="60000"
[sick_generic_caller-1] [INFO] [1693913657.024777347] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="range_min", type="double", value="0.0"
[sick_generic_caller-1] [INFO] [1693913657.024779775] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="range_max", type="double", value="100.0"
[sick_generic_caller-1] [INFO] [1693913657.024782142] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="range_filter_handling", type="int", value="0"
[sick_generic_caller-1] [INFO] [1693913657.024784757] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="add_transform_xyz_rpy", type="string", value="$(arg add_transform_xyz_rpy)" overwritten by default value "0,0,0,0,0,0"
[sick_generic_caller-1] [INFO] [1693913657.024787276] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="add_transform_xyz_rpy", type="string", value="0,0,0,0,0,0"
[sick_generic_caller-1] [INFO] [1693913657.024790019] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="add_transform_check_dynamic_updates", type="bool", value="$(arg add_transform_check_dynamic_updates)" overwritten by default value "false"
[sick_generic_caller-1] [INFO] [1693913657.024792963] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="add_transform_check_dynamic_updates", type="bool", value="false"
[sick_generic_caller-1] [INFO] [1693913657.024795411] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="sopas_tcp_port", type="string", value="2111"
[sick_generic_caller-1] [INFO] [1693913657.024797882] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="start_sopas_service", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1693913657.024800276] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="send_sopas_start_stop_cmd", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1693913657.024802724] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="sopas_cola_binary", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024806120] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="sopas_timeout_ms", type="int", value="5000"
[sick_generic_caller-1] [INFO] [1693913657.024808451] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="client_authorization_pw", type="string", value="F4724744"
[sick_generic_caller-1] [INFO] [1693913657.024810968] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="host_read_filtersettings", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1693913657.024815599] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="host_FREchoFilter", type="int", value="0"
[sick_generic_caller-1] [INFO] [1693913657.024818172] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="host_set_FREchoFilter", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024820722] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="host_LFPangleRangeFilter", type="string", value="0 -180.0 +179.0 -90.0 +90.0 1"
[sick_generic_caller-1] [INFO] [1693913657.024825022] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="host_set_LFPangleRangeFilter", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024827528] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="host_LFPlayerFilter", type="string", value="0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
[sick_generic_caller-1] [INFO] [1693913657.024829976] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="host_set_LFPlayerFilter", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024832402] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_enabled", type="bool", value="False"
[sick_generic_caller-1] [INFO] [1693913657.024834752] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_verbose", type="int", value="1"
[sick_generic_caller-1] [INFO] [1693913657.024837877] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_discard_msgpacks_out_of_bounds", type="bool", value="True"
[sick_generic_caller-1] [INFO] [1693913657.024840477] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_check_missing_scandata_interval", type="int", value="12"
[sick_generic_caller-1] [INFO] [1693913657.024842907] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_required_echos", type="string", value="0"
[sick_generic_caller-1] [INFO] [1693913657.024845376] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_azimuth_start", type="double", value="-180.0"
[sick_generic_caller-1] [INFO] [1693913657.024847707] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_azimuth_end", type="double", value="+180.0"
[sick_generic_caller-1] [INFO] [1693913657.024850553] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_elevation_start", type="double", value="-90.0"
[sick_generic_caller-1] [INFO] [1693913657.024852913] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_elevation_end", type="double", value="+90.0"
[sick_generic_caller-1] [INFO] [1693913657.024855325] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_valid_segments", type="string", value="0 1 2 3 4 5 6 7 8 9 10 11"
[sick_generic_caller-1] [INFO] [1693913657.024857740] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="msgpack_validator_layer_filter", type="string", value="1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
[sick_generic_caller-1] [INFO] [1693913657.024860150] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="ros_qos", type="int", value="-1"
[sick_generic_caller-1] [INFO] [1693913657.024862873] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="laserscan_layer_filter", type="string", value="$(arg laserscan_layer_filter)" overwritten by default value "0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0"
[sick_generic_caller-1] [INFO] [1693913657.024865466] [sick_scan]: LaunchParser::parseFile(/home/petop/sick_scan_ws/install/sick_scan/share/sick_scan/launch/sick_multiscan.launch): name="laserscan_layer_filter", type="string", value="0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0"
[sick_generic_caller-1] [WARN] [1693913657.025218619] [sick_scan]: ## ERROR rosGetParam(port, 2112, NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE) failed, exception parameter 'port' has invalid type: expected [string] got [integer]
[sick_generic_caller-1] [INFO] [1693913657.025315853] [sick_scan]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[sick_generic_caller-1] [INFO] [1693913657.025322241] [sick_scan]: SickCloudTransform: azimuth_offset = 0 [deg]
[sick_generic_caller-1] [INFO] [1693913657.025326711] [sick_scan]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[sick_generic_caller-1] [INFO] [1693913657.025329540] [sick_scan]: SickCloudTransform: apply 3x3 rotation = false
[sick_generic_caller-1] [INFO] [1693913657.025332676] [sick_scan]: SickCloudTransform: additional translation = (0,0,0)
[sick_generic_caller-1] [INFO] [1693913657.025335194] [sick_scan]: SickCloudTransform: check_dynamic_updates = false
[sick_generic_caller-1] [INFO] [1693913657.025341348] [sick_scan]: Range filter configuration for sick_scansegment_xd: range_min=0, range_max=100, range_filter_handling=0
[sick_generic_caller-1] [INFO] [1693913657.025346300] [sick_scan]: sick_scansegment_xd configuration:
[sick_generic_caller-1] [INFO] [1693913657.025349093] [sick_scan]: scanner_type:                     sick_multiscan
[sick_generic_caller-1] [INFO] [1693913657.025351503] [sick_scan]: udp_sender:                       
[sick_generic_caller-1] [INFO] [1693913657.025354009] [sick_scan]: udp_port:                         2115
[sick_generic_caller-1] [INFO] [1693913657.025356426] [sick_scan]: publish_topic:                    /cloud
[sick_generic_caller-1] [INFO] [1693913657.025358887] [sick_scan]: publish_topic_all_segments:       /cloud_fullframe
[sick_generic_caller-1] [INFO] [1693913657.025361545] [sick_scan]: all_segments_min_deg:             -180
[sick_generic_caller-1] [INFO] [1693913657.025364218] [sick_scan]: all_segments_max_deg:             180
[sick_generic_caller-1] [INFO] [1693913657.025366615] [sick_scan]: publish_frame_id:                 world
[sick_generic_caller-1] [INFO] [1693913657.025369814] [sick_scan]: udp_input_fifolength:             20
[sick_generic_caller-1] [INFO] [1693913657.025372268] [sick_scan]: msgpack_output_fifolength:        20
[sick_generic_caller-1] [INFO] [1693913657.025374665] [sick_scan]: verbose_level:                    1
[sick_generic_caller-1] [INFO] [1693913657.025377034] [sick_scan]: measure_timing:                   1
[sick_generic_caller-1] [INFO] [1693913657.025380255] [sick_scan]: export_csv:                       0
[sick_generic_caller-1] [INFO] [1693913657.025383870] [sick_scan]: export_udp_msg:                   0
[sick_generic_caller-1] [INFO] [1693913657.025386326] [sick_scan]: logfolder:                        
[sick_generic_caller-1] [INFO] [1693913657.025388725] [sick_scan]: hostname:                         192.168.1.1
[sick_generic_caller-1] [INFO] [1693913657.025391256] [sick_scan]: udp_receiver_ip:                  192.168.1.100
[sick_generic_caller-1] [INFO] [1693913657.025393746] [sick_scan]: port:                             2115
[sick_generic_caller-1] [INFO] [1693913657.025396154] [sick_scan]: send_udp_start:                   0
[sick_generic_caller-1] [INFO] [1693913657.025398493] [sick_scan]: send_udp_start_string:            magicalActivate
[sick_generic_caller-1] [INFO] [1693913657.025401032] [sick_scan]: udp_timeout_ms:                   60000
[sick_generic_caller-1] [INFO] [1693913657.025403385] [sick_scan]: sopas_tcp_port:                   2111
[sick_generic_caller-1] [INFO] [1693913657.025405801] [sick_scan]: start_sopas_service:              1
[sick_generic_caller-1] [INFO] [1693913657.025408203] [sick_scan]: send_sopas_start_stop_cmd:        1
[sick_generic_caller-1] [INFO] [1693913657.025410575] [sick_scan]: sopas_cola_binary:                0
[sick_generic_caller-1] [INFO] [1693913657.025412954] [sick_scan]: sopas_timeout_ms:                 5000
[sick_generic_caller-1] [INFO] [1693913657.025415316] [sick_scan]: host_read_filtersettings:         1
[sick_generic_caller-1] [INFO] [1693913657.025417708] [sick_scan]: host_FREchoFilter:                0
[sick_generic_caller-1] [INFO] [1693913657.025420164] [sick_scan]: host_set_FREchoFilter:            0
[sick_generic_caller-1] [INFO] [1693913657.025422617] [sick_scan]: host_LFPangleRangeFilter:         0 -180.0 +179.0 -90.0 +90.0 1
[sick_generic_caller-1] [INFO] [1693913657.025425282] [sick_scan]: host_set_LFPangleRangeFilter:     0
[sick_generic_caller-1] [INFO] [1693913657.025427869] [sick_scan]: host_LFPlayerFilter:              0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
[sick_generic_caller-1] [INFO] [1693913657.025430640] [sick_scan]: host_set_LFPlayerFilter:          0
[sick_generic_caller-1] [INFO] [1693913657.025436692] [sick_scan]: laserscan_layer_filter:           0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
[sick_generic_caller-1] [INFO] [1693913657.025440737] [sick_scan]: msgpack_validator_enabled:                         0
[sick_generic_caller-1] [INFO] [1693913657.025443215] [sick_scan]: msgpack_validator_verbose:                         1
[sick_generic_caller-1] [INFO] [1693913657.025445672] [sick_scan]: msgpack_validator_discard_msgpacks_out_of_bounds:  1
[sick_generic_caller-1] [INFO] [1693913657.025449940] [sick_scan]: msgpack_validator_check_missing_scandata_interval: 12
[sick_generic_caller-1] [INFO] [1693913657.025452848] [sick_scan]: msgpack_validator_required_echos:                  0
[sick_generic_caller-1] [INFO] [1693913657.025456008] [sick_scan]: msgpack_validator_azimuth_start:                   -3.14159 [rad]
[sick_generic_caller-1] [INFO] [1693913657.025459162] [sick_scan]: msgpack_validator_azimuth_end:                     3.14159 [rad]
[sick_generic_caller-1] [INFO] [1693913657.025462046] [sick_scan]: msgpack_validator_elevation_start:                 -1.5708 [rad]
[sick_generic_caller-1] [INFO] [1693913657.025464745] [sick_scan]: msgpack_validator_elevation_end:                   1.5708 [rad]
[sick_generic_caller-1] [INFO] [1693913657.025467875] [sick_scan]: msgpack_validator_valid_segments:                  0 1 2 3 4 5 6 7 8 9 10 11
[sick_generic_caller-1] [INFO] [1693913657.025471027] [sick_scan]: msgpack_validator_layer_filter:                    1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
[sick_generic_caller-1] [INFO] [1693913657.025473779] [sick_scan]: sick_scansegment_xd (sick_multiscan) started.
[sick_generic_caller-1] [INFO] [1693913657.025521211] [sick_scan]: sick_scansegment_xd initializing...
[sick_generic_caller-1] [INFO] [1693913657.025539712] [sick_scan]: UdpReceiverSocketImpl: udp socket created, binding to port 2115 ... 
[sick_generic_caller-1] [INFO] [1693913657.025546346] [sick_scan]: sick_scansegment_xd: udp socket to :2115 initialized
[sick_generic_caller-1] [INFO] [1693913657.027177018] [sick_scan]: RosMsgpackPublisher: publishing PointCloud2 messages on topic "/cloud"
[sick_generic_caller-1] [INFO] [1693913657.027293993] [sick_scan]: RosMsgpackPublisher: publishing LaserScan segment messages on topic "/sick_scansegment_xd/scan_segment"
[sick_generic_caller-1] [INFO] [1693913657.027398178] [sick_scan]: MsgPackThreads: Start msgpack converter, udp receiver and msgpack exporter, receiving from :2115
[sick_generic_caller-1] [INFO] [1693913657.027425451] [sick_scan]: MsgPackThreads: initializing sopas tcp (192.168.1.1:2111, timeout:5, binary:0)
[sick_generic_caller-1] [INFO] [1693913657.027933164] [sick_scan]: Publishing lidar pointcloud2 to cloud
[sick_generic_caller-1] [INFO] [1693913657.027945191] [sick_scan]: Publishing on topic "cloud", qos=0
[sick_generic_caller-1] [INFO] [1693913657.028024379] [sick_scan]: Publishing on topic "sick_multiscan/imu", qos=0
[sick_generic_caller-1] [INFO] [1693913657.028178921] [sick_scan]: Publishing on topic "sick_multiscan/encoder", qos=0
[sick_generic_caller-1] [INFO] [1693913657.028515782] [sick_scan]: Publishing on topic "sick_multiscan/scan", qos=0
[sick_generic_caller-1] [INFO] [1693913657.028596849] [sick_scan]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[sick_generic_caller-1] [INFO] [1693913657.028603034] [sick_scan]: SickCloudTransform: azimuth_offset = 0 [deg]
[sick_generic_caller-1] [INFO] [1693913657.028609301] [sick_scan]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[sick_generic_caller-1] [INFO] [1693913657.028612248] [sick_scan]: SickCloudTransform: apply 3x3 rotation = false
[sick_generic_caller-1] [INFO] [1693913657.028615254] [sick_scan]: SickCloudTransform: additional translation = (0,0,0)
[sick_generic_caller-1] [INFO] [1693913657.028617668] [sick_scan]: SickCloudTransform: check_dynamic_updates = false
[sick_generic_caller-1] [INFO] [1693913657.028622857] [sick_scan]: MsgPackThreads: initializing device
[sick_generic_caller-1] [INFO] [1693913657.028632954] [sick_scan]: sick_scan_xd: Tcp::open: connecting to 192.168.1.1:2111 ...
[sick_generic_caller-1] [INFO] [1693913657.029129428] [sick_scan]: sick_scan_xd Tcp::open: connected to 192.168.1.1:2111
[sick_generic_caller-1] [INFO] [1693913657.029135229] [sick_scan]: MsgPackThreads: initializing services
[sick_generic_caller-1] [INFO] [1693913657.029146145] [sick_scan]: SickThread TcpRecvThread started.
[sick_generic_caller-1] [INFO] [1693913657.029280864] [sick_scan]: SickScanServices: service "/ColaMsg" created ("/ColaMsg")
[sick_generic_caller-1] [INFO] [1693913657.029384284] [sick_scan]: SickScanServices: service "/ECRChangeArr" created ("/ECRChangeArr")
[sick_generic_caller-1] [INFO] [1693913657.029478121] [sick_scan]: SickScanServices: service "/LIDoutputstate" created ("/LIDoutputstate")
[sick_generic_caller-1] [INFO] [1693913657.029569210] [sick_scan]: SickScanServices: service "/SCdevicestate" created ("/SCdevicestate")
[sick_generic_caller-1] [INFO] [1693913657.029662758] [sick_scan]: SickScanServices: service "/SCreboot" created ("/SCreboot")
[sick_generic_caller-1] [INFO] [1693913657.029754860] [sick_scan]: SickScanServices: service "/SCsoftreset" created ("/SCsoftreset")
[sick_generic_caller-1] [INFO] [1693913657.029846539] [sick_scan]: SickScanServices: service "/SickScanExit" created ("/SickScanExit")
[sick_generic_caller-1] [INFO] [1693913657.029851216] [sick_scan]: MsgPackThreads: ros services initialized
[sick_generic_caller-1] [INFO] [1693913657.029862230] [sick_scan]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1693913657.029874849] [sick_scan]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[sick_generic_caller-1] [INFO] [1693913657.033489787] [sick_scan]: Receiving: <STX>sAN SetAccessMode 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.033510187] [sick_scan]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1693913657.033513808] [sick_scan]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1693913657.033522875] [sick_scan]: SickScanServices: response: "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1693913657.033526510] [sick_scan]: SickScanServices: Sending request "sRN FREchoFilter"
[sick_generic_caller-1] [INFO] [1693913657.033530764] [sick_scan]: Sending  : <STX>sRN FREchoFilter<ETX>
[sick_generic_caller-1] [INFO] [1693913657.034034388] [sick_scan]: Receiving: <STX>sRA FREchoFilter 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.034040919] [sick_scan]: SickScanServices: Request "sRN FREchoFilter" successfully sent, received reply "sRA FREchoFilter 1"
[sick_generic_caller-1] [INFO] [1693913657.034047348] [sick_scan]: SickScanServices: Sending request "sRN LFPangleRangeFilter"
[sick_generic_caller-1] [INFO] [1693913657.034050856] [sick_scan]: Sending  : <STX>sRN LFPangleRangeFilter<ETX>
[sick_generic_caller-1] [INFO] [1693913657.035097695] [sick_scan]: Receiving: <STX>sRA LFPangleRangeFilter 0 BFC90FDB 3FC90FDB BFC90FF9 3FC90FF9 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.035120694] [sick_scan]: SickScanServices: Request "sRN LFPangleRangeFilter" successfully sent, received reply "sRA LFPangleRangeFilter 0 BFC90FDB 3FC90FDB BFC90FF9 3FC90FF9 1"
[sick_generic_caller-1] [INFO] [1693913657.035124431] [sick_scan]: SickScanServices: Sending request "sRN LFPlayerFilter"
[sick_generic_caller-1] [INFO] [1693913657.035127482] [sick_scan]: Sending  : <STX>sRN LFPlayerFilter<ETX>
[sick_generic_caller-1] [INFO] [1693913657.037214894] [sick_scan]: Receiving: <STX>sRA LFPlayerFilter 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.037245379] [sick_scan]: SickScanServices: Request "sRN LFPlayerFilter" successfully sent, received reply "sRA LFPlayerFilter 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
[sick_generic_caller-1] [INFO] [1693913657.037269637] [sick_scan]: SickScanServices::queryMultiScanFiltersettings(): FREchoFilter: "1" = {1}
[sick_generic_caller-1] [INFO] [1693913657.037295597] [sick_scan]: SickScanServices::queryMultiScanFiltersettings(): LFPangleRangeFilter: "0 BFC90FDB 3FC90FDB BFC90FF9 3FC90FF9 1" = {0,BFC90FDB,3FC90FDB,BFC90FF9,3FC90FF9,1}
[sick_generic_caller-1] [INFO] [1693913657.037299862] [sick_scan]: SickScanServices::queryMultiScanFiltersettings(): LFPlayerFilter: "0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" = {0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1}
[sick_generic_caller-1] [INFO] [1693913657.037308681] [sick_scan]: SickScanServices::queryMultiScanFiltersettings(): sopas.FREchoFilter = "1", sopas.LFPangleRangeFilter = "0 -90 90 -90.0002 90.0002 1", sopas.LFPlayerFilter = "0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
[sick_generic_caller-1] [INFO] [1693913657.037313966] [sick_scan]: SickScanServices::queryMultiScanFiltersettings(): msgpack_validator_required_echos = { 0 1 2 }, msgpack_validator_angles = { -3.14159 3.14159 -1.5708 1.5708 } [rad], msgpack_validator_layer_filter = { 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 }
[sick_generic_caller-1] [INFO] [1693913657.037317802] [sick_scan]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1693913657.037321259] [sick_scan]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[sick_generic_caller-1] [INFO] [1693913657.038170323] [sick_scan]: Receiving: <STX>sAN SetAccessMode 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.038176068] [sick_scan]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1693913657.038178887] [sick_scan]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[sick_generic_caller-1] [INFO] [1693913657.038184158] [sick_scan]: SickScanServices: response: "sAN SetAccessMode 1"
[sick_generic_caller-1] [INFO] [1693913657.038188657] [sick_scan]: SickScanServices: Sending request "sWN ScanDataEthSettings 1 +192 +168 +1 +100 +2115"
[sick_generic_caller-1] [INFO] [1693913657.038192588] [sick_scan]: Sending  : <STX>sWN ScanDataEthSettings 1 +192 +168 +1 +100 +2115<ETX>
[sick_generic_caller-1] [INFO] [1693913657.039264679] [sick_scan]: Receiving: <STX>sWA ScanDataEthSettings<ETX>
[sick_generic_caller-1] [INFO] [1693913657.039322573] [sick_scan]: SickScanServices: Request "sWN ScanDataEthSettings 1 +192 +168 +1 +100 +2115" successfully sent, received reply "sWA ScanDataEthSettings"
[sick_generic_caller-1] [INFO] [1693913657.039352523] [sick_scan]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataEthSettings 1 +192 +168 +1 +100 +2115", response: "sWA ScanDataEthSettings"
[sick_generic_caller-1] [INFO] [1693913657.039355466] [sick_scan]: SickScanServices: Sending request "sWN ScanDataFormat 1"
[sick_generic_caller-1] [INFO] [1693913657.039365836] [sick_scan]: Sending  : <STX>sWN ScanDataFormat 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.041326811] [sick_scan]: Receiving: <STX>sWA ScanDataFormat<ETX>
[sick_generic_caller-1] [INFO] [1693913657.041356369] [sick_scan]: SickScanServices: Request "sWN ScanDataFormat 1" successfully sent, received reply "sWA ScanDataFormat"
[sick_generic_caller-1] [INFO] [1693913657.041359348] [sick_scan]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataFormat 1", response: "sWA ScanDataFormat"
[sick_generic_caller-1] [INFO] [1693913657.041362177] [sick_scan]: SickScanServices: Sending request "sWN ScanDataPreformatting 1"
[sick_generic_caller-1] [INFO] [1693913657.041365432] [sick_scan]: Sending  : <STX>sWN ScanDataPreformatting 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.042321783] [sick_scan]: Receiving: <STX>sWA ScanDataPreformatting<ETX>
[sick_generic_caller-1] [INFO] [1693913657.042328471] [sick_scan]: SickScanServices: Request "sWN ScanDataPreformatting 1" successfully sent, received reply "sWA ScanDataPreformatting"
[sick_generic_caller-1] [INFO] [1693913657.042331198] [sick_scan]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataPreformatting 1", response: "sWA ScanDataPreformatting"
[sick_generic_caller-1] [INFO] [1693913657.042334223] [sick_scan]: SickScanServices: Sending request "sWN ScanDataEnable 1"
[sick_generic_caller-1] [INFO] [1693913657.042337120] [sick_scan]: Sending  : <STX>sWN ScanDataEnable 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.043418572] [sick_scan]: Receiving: <STX>sWA ScanDataEnable<ETX>
[sick_generic_caller-1] [INFO] [1693913657.043465662] [sick_scan]: SickScanServices: Request "sWN ScanDataEnable 1" successfully sent, received reply "sWA ScanDataEnable"
[sick_generic_caller-1] [INFO] [1693913657.043468299] [sick_scan]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataEnable 1", response: "sWA ScanDataEnable"
[sick_generic_caller-1] [INFO] [1693913657.043470830] [sick_scan]: SickScanServices: Sending request "sMN LMCstartmeas"
[sick_generic_caller-1] [INFO] [1693913657.043473664] [sick_scan]: Sending  : <STX>sMN LMCstartmeas<ETX>
[sick_generic_caller-1] [INFO] [1693913657.047031368] [sick_scan]: Receiving: <STX>sAN LMCstartmeas 0<ETX>
[sick_generic_caller-1] [INFO] [1693913657.047061051] [sick_scan]: SickScanServices: Request "sMN LMCstartmeas" successfully sent, received reply "sAN LMCstartmeas 0"
[sick_generic_caller-1] [INFO] [1693913657.047075340] [sick_scan]: SickScanServices::sendSopasCmdCheckResponse(): request: "sMN LMCstartmeas", response: "sAN LMCstartmeas 0"
[sick_generic_caller-1] [INFO] [1693913657.047082760] [sick_scan]: SickScanServices: Sending request "sMN Run"
[sick_generic_caller-1] [INFO] [1693913657.047086418] [sick_scan]: Sending  : <STX>sMN Run<ETX>
[sick_generic_caller-1] [INFO] [1693913657.048472369] [sick_scan]: Receiving: <STX>sAN Run 1<ETX>
[sick_generic_caller-1] [INFO] [1693913657.048503043] [sick_scan]: SickScanServices: Request "sMN Run" successfully sent, received reply "sAN Run 1"
[sick_generic_caller-1] [INFO] [1693913657.048518264] [sick_scan]: SickScanServices::sendSopasCmdCheckResponse(): request: "sMN Run", response: "sAN Run 1"

Here is a picture from RViz

Bildschirmfoto vom 2023-09-05 11-52-22

Does anyone have any ideas?

Thanks

Peter

rostest commented 11 months ago

Thanks for reporting this. The SOPAS TCP communication with the lidar looks good. The scan data are transmitted separately and via UDP. If UDP packets are blocked (e.g. by a firewall) or the receiver IP address is incorrect, sick_scan_xd can not receive scan data from the lidar.

Please check the following items:

  1. Check parameter udp_receiver_ip:=192.168.1.100. This is the IP address the lidar sends the UDP scan data to. It has to be the IP address of the receiving PC, i.e. the IP address of the PC running sick_scan_xd. Make sure that udp_receiver_ip is set to the IP of machine running sick_scan_xd and that this IP address is reachable by the lidar.
  2. Check possible UDP filters of a firewall.
  3. If you still do not see any scan data, please run Wireshark and check for incoming UDP packets from the lidar (i.e. from source ip 192.168.1.1). If Wireshark does not receive UDP packets from the lidar IP, the problem is caused by a network issue. Otherwise please capture and save some UDP data in a pcapng-file (Wireshark -> save as ... pcapng) for further analyzation.
Petopp commented 11 months ago

THANK YOU SO MUCH!

It was the IP address, I always sent to the wrong one there. The PC not have the .100 but a .2 IP address. After changing it, it worked immediately.

Now it works the communication