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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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multiscan136 is not starting the udp measurements #228

Closed cxdcxd closed 9 months ago

cxdcxd commented 9 months ago

I am working with a SICK multiscan136 Lidar and i want to drive it with ROS2. My ROS2 is humble and after a successful installation of each required packages the multiscan launch is starting and it is doing the intialization but the messurments is not starting. I have also tested the linux native driver and it has the same issue, but when i open/close the web gui some times randomly the messurments is working, but this is not the case for the ROS2 version.

I can only see:

[sick_generic_caller-1] [INFO] [1699281845.114664658] [sick_scan_xd]: SickScanServices: Sending request "sWN ScanDataFormat 2" [sick_generic_caller-1] [INFO] [1699281845.114674116] [sick_scan_xd]: Sending : sWN ScanDataFormat 2 [sick_generic_caller-1] [INFO] [1699281845.117267883] [sick_scan_xd]: Receiving: sWA ScanDataFormat [sick_generic_caller-1] [INFO] [1699281845.117366950] [sick_scan_xd]: SickScanServices: Request "sWN ScanDataFormat 2" successfully sent, received reply "sWA ScanDataFormat" [sick_generic_caller-1] [INFO] [1699281845.117390203] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataFormat 2", response: "sWA ScanDataFormat" [sick_generic_caller-1] [INFO] [1699281845.117408448] [sick_scan_xd]: SickScanServices: Sending request "sWN ScanDataPreformatting 1" [sick_generic_caller-1] [INFO] [1699281845.117422891] [sick_scan_xd]: Sending : sWN ScanDataPreformatting 1 [sick_generic_caller-1] [INFO] [1699281845.118049090] [sick_scan_xd]: Receiving: sWA ScanDataPreformatting [sick_generic_caller-1] [INFO] [1699281845.118100168] [sick_scan_xd]: SickScanServices: Request "sWN ScanDataPreformatting 1" successfully sent, received reply "sWA ScanDataPreformatting" [sick_generic_caller-1] [INFO] [1699281845.118130625] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataPreformatting 1", response: "sWA ScanDataPreformatting" [sick_generic_caller-1] [INFO] [1699281845.118137250] [sick_scan_xd]: SickScanServices: Sending request "sWN ScanDataEnable 1" [sick_generic_caller-1] [INFO] [1699281845.118145823] [sick_scan_xd]: Sending : sWN ScanDataEnable 1 [sick_generic_caller-1] [INFO] [1699281845.119110101] [sick_scan_xd]: Receiving: sWA ScanDataEnable [sick_generic_caller-1] [INFO] [1699281845.119133534] [sick_scan_xd]: SickScanServices: Request "sWN ScanDataEnable 1" successfully sent, received reply "sWA ScanDataEnable" [sick_generic_caller-1] [INFO] [1699281845.119142399] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sWN ScanDataEnable 1", response: "sWA ScanDataEnable" [sick_generic_caller-1] [INFO] [1699281845.119149867] [sick_scan_xd]: SickScanServices: Sending request "sMN LMCstartmeas" [sick_generic_caller-1] [INFO] [1699281845.119158498] [sick_scan_xd]: Sending : sMN LMCstartmeas [sick_generic_caller-1] [INFO] [1699281845.124410329] [sick_scan_xd]: Receiving: sAN LMCstartmeas 0 [sick_generic_caller-1] [INFO] [1699281845.124459031] [sick_scan_xd]: SickScanServices: Request "sMN LMCstartmeas" successfully sent, received reply "sAN LMCstartmeas 0" [sick_generic_caller-1] [INFO] [1699281845.124469863] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sMN LMCstartmeas", response: "sAN LMCstartmeas 0" [sick_generic_caller-1] [INFO] [1699281845.124478533] [sick_scan_xd]: SickScanServices: Sending request "sMN Run" [sick_generic_caller-1] [INFO] [1699281845.124486233] [sick_scan_xd]: Sending : sMN Run [sick_generic_caller-1] [INFO] [1699281845.125172494] [sick_scan_xd]: Receiving: sAN Run 1 [sick_generic_caller-1] [INFO] [1699281845.125298173] [sick_scan_xd]: SickScanServices: Request "sMN Run" successfully sent, received reply "sAN Run 1" [sick_generic_caller-1] [INFO] [1699281845.125310742] [sick_scan_xd]: SickScanServices::sendSopasCmdCheckResponse(): request: "sMN Run", response: "sAN Run 1"

as the last communcation message between the host pc and the Lidar. I can see all the topics and services but nothing is publishing or the services are not correctly communicating with the sensor it self.

I am using Ubuntu 22.04 64bit computer and Core i7. I should mention the web gui is working correctly and the IP addresses are all default 192.168.0.1 and 192.168.0.100 for the host computer.

I would appriciate it if you could help or guide me through the problem.

cxdcxd commented 9 months ago

So the error was the ip of the receiver computer, i was trying always 192.168.0.100 the default value and it was not working, i changed to 192.168.0.2 and it worked!