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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 lms1xx driver error #227

Closed kevinpretell closed 9 months ago

kevinpretell commented 10 months ago

I'm having problems starting the driver for the LMS111-10100 lidars when I launch the driver I get the following error:

[WARN] [1698162918.267058959] [sick_scan_xd]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0033>sWN LMPoutputRange 0x00 0x01 0x00 ..., received answer: "sFA\x00\x0a", expected patterns: "sWA LMPoutputRange","sAN LMPoutputRange"

here is the complete output (the error is on the last line):

ros2 run sick_scan_xd sick_generic_caller ./src/sick_scan_xd/launch/sick_lms_1xx.launch 
[INFO] [1698162916.840202314] [sick_scan_xd]: sick_generic_caller V. 3.0.0
[INFO] [1698162916.840237364] [sick_scan_xd]: Program argument 1: /home/usad2/usad2_ws/install/sick_scan_xd/lib/sick_scan_xd/sick_generic_caller
[INFO] [1698162916.840242885] [sick_scan_xd]: Program argument 2: ./src/sick_scan_xd/launch/sick_lms_1xx.launch
[INFO] [1698162916.840247025] [sick_scan_xd]: ==========================================
[INFO] [1698162916.840349575] [sick_scan_xd]: Try loading launchfile : ./src/sick_scan_xd/launch/sick_lms_1xx.launch
[INFO] [1698162916.840548007] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["hostname"]="192.168.1.3"
[INFO] [1698162916.840556377] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["cloud_topic"]="cloud"
[INFO] [1698162916.840562137] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["frame_id"]="cloud"
[INFO] [1698162916.840567937] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["sw_pll_only_publish"]="true"
[INFO] [1698162916.840573667] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["nodename"]="sick_lms_1xx"
[INFO] [1698162916.840579027] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["add_transform_xyz_rpy"]="0,0,0,0,0,0"
[INFO] [1698162916.840584377] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["add_transform_check_dynamic_updates"]="false"
[INFO] [1698162916.840590127] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): default_args["encoder_mode"]="-1"
[INFO] [1698162916.840617037] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="intensity", type="bool", value="False"
[INFO] [1698162916.840622967] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="intensity_resolution_16bit", type="bool", value="false"
[INFO] [1698162916.840628627] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="min_ang", type="double", value="-2.35619"
[INFO] [1698162916.840633837] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="max_ang", type="double", value="2.35619"
[INFO] [1698162916.840639597] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="frame_id", type="str", value="$(arg frame_id)" overwritten by default value "cloud"
[INFO] [1698162916.840645048] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="frame_id", type="str", value="cloud"
[INFO] [1698162916.840650218] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="use_binary_protocol", type="bool", value="true"
[INFO] [1698162916.840655428] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="scanner_type", type="string", value="sick_lms_1xx"
[INFO] [1698162916.840660688] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="range_min", type="double", value="0.05"
[INFO] [1698162916.840665788] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="range_max", type="double", value="25.0"
[INFO] [1698162916.840671128] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="range_filter_handling", type="int", value="0"
[INFO] [1698162916.840676478] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="hostname", type="string", value="$(arg hostname)" overwritten by default value "192.168.1.3"
[INFO] [1698162916.840682288] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="hostname", type="string", value="192.168.1.3"
[INFO] [1698162916.840687738] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="cloud_topic", type="string", value="$(arg cloud_topic)" overwritten by default value "cloud"
[INFO] [1698162916.840798379] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="cloud_topic", type="string", value="cloud"
[INFO] [1698162916.840804729] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="port", type="string", value="2112"
[INFO] [1698162916.840808489] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="timelimit", type="int", value="5"
[INFO] [1698162916.840813319] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="sw_pll_only_publish", type="bool", value="$(arg sw_pll_only_publish)" overwritten by default value "true"
[INFO] [1698162916.840817979] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="sw_pll_only_publish", type="bool", value="true"
[INFO] [1698162916.840822539] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="use_generation_timestamp", type="bool", value="true"
[INFO] [1698162916.840827259] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="start_services", type="bool", value="True"
[INFO] [1698162916.840833199] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="activate_lferec", type="bool", value="True"
[INFO] [1698162916.840840589] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="activate_lidoutputstate", type="bool", value="True"
[INFO] [1698162916.840845779] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="activate_lidinputstate", type="bool", value="True"
[INFO] [1698162916.840849999] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="min_intensity", type="double", value="0.0"
[INFO] [1698162916.840854539] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="encoder_mode", type="int", value="$(arg encoder_mode)" overwritten by default value "-1"
[INFO] [1698162916.840859099] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="encoder_mode", type="int", value="-1"
[INFO] [1698162916.840863329] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="ang_res", type="double", value="0.5"
[INFO] [1698162916.840868279] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="scan_freq", type="double", value="50"
[INFO] [1698162916.840872429] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="add_transform_xyz_rpy", type="string", value="$(arg add_transform_xyz_rpy)" overwritten by default value "0,0,0,0,0,0"
[INFO] [1698162916.840877209] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="add_transform_xyz_rpy", type="string", value="0,0,0,0,0,0"
[INFO] [1698162916.840882139] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="add_transform_check_dynamic_updates", type="bool", value="$(arg add_transform_check_dynamic_updates)" overwritten by default value "false"
[INFO] [1698162916.840887359] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="add_transform_check_dynamic_updates", type="bool", value="false"
[INFO] [1698162916.840891659] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="message_monitoring_enabled", type="bool", value="True"
[INFO] [1698162916.840895879] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="read_timeout_millisec_default", type="int", value="5000"
[INFO] [1698162916.840900009] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="read_timeout_millisec_startup", type="int", value="120000"
[INFO] [1698162916.840912180] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="read_timeout_millisec_kill_node", type="int", value="150000"
[INFO] [1698162916.840916650] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="client_authorization_pw", type="string", value="F4724744"
[INFO] [1698162916.840920980] [sick_scan_xd]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_lms_1xx.launch): name="ros_qos", type="int", value="-1"
intensity                      bool       False               
intensity_resolution_16bit     bool       false               
min_ang                        double     -2.35619            
max_ang                        double     2.35619             
frame_id                       str        cloud               
use_binary_protocol            bool       true                
scanner_type                   string     sick_lms_1xx        
range_min                      double     0.05                
range_max                      double     25.0                
range_filter_handling          int        0                   
hostname                       string     192.168.1.3         
cloud_topic                    string     cloud               
port                           string     2112                
timelimit                      int        5                   
sw_pll_only_publish            bool       true                
use_generation_timestamp       bool       true                
start_services                 bool       True                
activate_lferec                bool       True                
activate_lidoutputstate        bool       True                
activate_lidinputstate         bool       True                
min_intensity                  double     0.0                 
encoder_mode                   int        -1                  
ang_res                        double     0.5                 
scan_freq                      double     50                  
add_transform_xyz_rpy          string     0,0,0,0,0,0         
add_transform_check_dynamic_updates bool       false               
message_monitoring_enabled     bool       True                
read_timeout_millisec_default  int        5000                
read_timeout_millisec_startup  int        120000              
read_timeout_millisec_kill_node int        150000              
client_authorization_pw        string     F4724744            
ros_qos                        int        -1                  
[INFO] [1698162916.841418923] [sick_scan_xd]: Range filter configuration: range_min=0.05, range_max=25, range_filter_handling=0
[INFO] [1698162916.841445663] [sick_scan_xd]: Found emul_sensor overwriting default settings. Emulation:False
[INFO] [1698162916.841451904] [sick_scan_xd]: Found sopas_protocol_type param overwriting default protocol:
[INFO] [1698162916.841456214] [sick_scan_xd]: Binary protocol activated
[INFO] [1698162916.841497654] [sick_scan_xd]: PointCloudMonitor started.
[INFO] [1698162916.841505114] [sick_scan_xd]: Start initialising scanner [Ip: 192.168.1.3] [Port:2112]
[INFO] [1698162916.841552104] [sick_scan_xd]: PointCloudMonitor: subscribing to topic cloud, qos=0
[INFO] [1698162916.842463731] [sick_scan_xd]: Publishing on topic "sick_lms_1xx/lferec", qos=0
[INFO] [1698162916.842744353] [sick_scan_xd]: Publishing on topic "sick_lms_1xx/lidoutputstate", qos=0
[INFO] [1698162916.842859474] [sick_scan_xd]: Publishing on topic "sick_lms_1xx/marker", qos=0
[INFO] [1698162916.843180736] [sick_scan_xd]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[INFO] [1698162916.843190586] [sick_scan_xd]: SickCloudTransform: azimuth_offset = 0 [deg]
[INFO] [1698162916.843197037] [sick_scan_xd]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[INFO] [1698162916.843201637] [sick_scan_xd]: SickCloudTransform: apply 3x3 rotation = false
[INFO] [1698162916.843206457] [sick_scan_xd]: SickCloudTransform: additional translation = (0,0,0)
[INFO] [1698162916.843210747] [sick_scan_xd]: SickCloudTransform: check_dynamic_updates = false
[INFO] [1698162916.843215477] [sick_scan_xd]: Publishing lidar pointcloud2 to cloud
[INFO] [1698162916.843222687] [sick_scan_xd]: Publishing on topic "cloud", qos=0
[INFO] [1698162916.843316087] [sick_scan_xd]: Publishing on topic "sick_lms_1xx/imu", qos=0
[INFO] [1698162916.843417408] [sick_scan_xd]: Publishing on topic "sick_lms_1xx/encoder", qos=0
[INFO] [1698162916.843509789] [sick_scan_xd]: Publishing on topic "sick_lms_1xx/scan", qos=0
[INFO] [1698162916.843621790] [sick_scan_xd]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[INFO] [1698162916.843631240] [sick_scan_xd]: SickCloudTransform: azimuth_offset = 0 [deg]
[INFO] [1698162916.843637500] [sick_scan_xd]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[INFO] [1698162916.843641890] [sick_scan_xd]: SickCloudTransform: apply 3x3 rotation = false
[INFO] [1698162916.843646570] [sick_scan_xd]: SickCloudTransform: additional translation = (0,0,0)
[INFO] [1698162916.843650760] [sick_scan_xd]: SickCloudTransform: check_dynamic_updates = false
[INFO] [1698162916.843672210] [sick_scan_xd]: sick_scan_xd: Tcp::open: connecting to 192.168.1.3:2112 ...
[INFO] [1698162916.844069933] [sick_scan_xd]: sick_scan_xd Tcp::open: connected to 192.168.1.3:2112
[INFO] [1698162916.844108343] [sick_scan_xd]: SickThread TcpRecvThread started.
[INFO] [1698162916.844113863] [sick_scan_xd]: Parameter setting for <active_echo: 0>
[INFO] [1698162916.844171254] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0017>sRN SCdevicestate CRC:<0x30>
[INFO] [1698162916.847389908] [sick_scan_xd]: Receiving: <STX>sRA SCdevicestate \x01<ETX>
[INFO] [1698162916.847406188] [sick_scan_xd]: checkColaDialect: lidar response in configured Cola-dialect Cola-B
[INFO] [1698162917.047827183] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0023>sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3>
[INFO] [1698162917.051007177] [sick_scan_xd]: Receiving: <STX>sAN SetAccessMode \x01<ETX>
[INFO] [1698162917.251405580] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0015>sWN EIHstCola 0x01 CRC:<0x09>
[INFO] [1698162917.254695875] [sick_scan_xd]: Receiving: <STX>sWA EIHstCola <ETX>
[INFO] [1698162917.455095057] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0019>sRN FirmwareVersion CRC:<0x24>
[INFO] [1698162917.456617298] [sick_scan_xd]: Receiving: <STX>sRA FirmwareVersion \x00\x0a\x56\x31\x2e\x32\x33\x20\x20\x20\x20\x20<ETX>
[INFO] [1698162917.657024374] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0017>sRN SCdevicestate CRC:<0x30>
[INFO] [1698162917.658557275] [sick_scan_xd]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[INFO] [1698162917.858984178] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0010>sRN ODoprh CRC:<0x41>
[INFO] [1698162917.860154727] [sick_scan_xd]: Receiving: <STX>sRA ODoprh \x00\x00\x40\xc6<ETX>
[INFO] [1698162918.060567092] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0010>sRN ODpwrc CRC:<0x52>
[INFO] [1698162918.061694481] [sick_scan_xd]: Receiving: <STX>sRA ODpwrc \x00\x00\x06\x6a<ETX>
[INFO] [1698162918.262150872] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0016>sRN LocationName CRC:<0x55>
[INFO] [1698162918.263636233] [sick_scan_xd]: Receiving: <STX>sRA LocationName \x00\x0b\x6e\x6f\x74\x20\x64\x65\x66\x69\x6e\x65\x64<ETX>
[INFO] [1698162918.263764754] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0018>sRN LMPoutputRange CRC:<0x5e>
[INFO] [1698162918.265206655] [sick_scan_xd]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x13\x88\xff\xf9\x22\x30\x00\x22\x55\x10<ETX>
[INFO] [1698162918.265265955] [sick_scan_xd]: Angle resolution of scanner is 0.5 [deg]  (in 1/10000th deg: 5000)
[INFO] [1698162918.265278815] [sick_scan_xd]: [From:To] -45 [deg] to 225 [deg] (in 1/10000th deg: from -450000 to 2250000)
[INFO] [1698162918.265287846] [sick_scan_xd]: MIN_ANG: -2.35619 [rad] -135 [deg]
[INFO] [1698162918.265295756] [sick_scan_xd]: MAX_ANG: 2.35619 [rad] 135 [deg]
[INFO] [1698162918.265312326] [sick_scan_xd]: Sending  : <STX><STX><STX><STX><Len=0033>sWN LMPoutputRange 0x00 0x01 0x00 0x00 0x13 0x88 0xff 0xf9 0x22 0x33 0x00 0x22 0x55 0x0d CRC:<0x8c>
[INFO] [1698162918.267012728] [sick_scan_xd]: Receiving: <STX>sFA\x00\x0a<ETX>
[WARN] [1698162918.267058959] [sick_scan_xd]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0033>sWN LMPoutputRange 0x00 0x01 0x00 ..., received answer: "sFA\x00\x0a", expected patterns: "sWA LMPoutputRange","sAN LMPoutputRange"

then I kill the process because it keeps restarting

I saw that the error sFA\x00\x0a means Sopas_Error_VARIABLE_WRITE_ACCESSDENIED. but I didn't change any variables in the launch file, I just changed the lidar IP. maybe there is some value I should change in the launch file for the LMS111-10100 lidar?

rostest commented 10 months ago

Thanks for your feedback. LMPoutputRange should be writable (since AccessMode has been set successfully); we will check this error. You may set parameter ang_res and scan_freq both to 0 in the launchfile to use the defaults and to avoid overwriting these values by command sWN LMPoutputRange.

rostest commented 9 months ago

The firmware version of your lidar is 1.23. Please update the most recent firmware using SOPAS ET and retry.

kevinpretell commented 9 months ago

To update the firmware I need to log in in “Service” mode from sopas right?

cause in 'Maintenance' and 'Authorized client' mode it doesn't make me click on Download Firmware

IMG_5287

rostest commented 9 months ago

Yes, please do so. Please contact SICK support in case of problems with SOPAS ET or firmware updates.

kevinpretell commented 9 months ago

Thanks for the help, but in the lidar manual there is no default password for the "service" user level but only for the "Maintenance personal" and "Authorized client" user levels with which I cannot update the firmware (we have never updated the firmware before)

Screenshot 2023-11-02 alle 09 12 49

Do you know the default password for the "Service" user level? Thanks in advance for the help

rostest commented 9 months ago

@kevinpretell I'm sorry, but we can't publish SICK passwords. Please contact SICK support for a firmware update.

kevinpretell commented 9 months ago

@rostest Perfect, I'll do it! Thanks so much for your help!