Closed hoopp closed 8 months ago
[INFO] [1700376486.435826388] [sick_scan]: sick_generic_caller V. 2.9.1 [INFO] [1700376486.435908035] [sick_scan]: Program argument 1: /opt/ros/foxy/lib/sick_scan/sick_generic_caller [INFO] [1700376486.435917230] [sick_scan]: Program argument 2: /opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch [INFO] [1700376486.435922389] [sick_scan]: Program argument 3: --ros-args
[INFO] [1700376486.436420856] [sick_scan]: Try loading launchfile : /opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch
[INFO] [1700376486.436970658] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): default_args["hostname"]="192.168.6.200"
[INFO] [1700376486.436986665] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): default_args["cloud_topic"]="/scan"
[INFO] [1700376486.436992673] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): default_args["frame_id"]="base_scan"
[INFO] [1700376486.437001257] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): default_args["sw_pll_only_publish"]="true"
[INFO] [1700376486.437006572] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): default_args["nodename"]="sick_lms_5xx"
[INFO] [1700376486.437011783] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): default_args["add_transform_xyz_rpy"]="0,0,0,0,0,0"
[INFO] [1700376486.437017575] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): default_args["add_transform_check_dynamic_updates"]="false"
[INFO] [1700376486.437044715] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="min_ang", type="double", value="-1.658062789"
[INFO] [1700376486.437051497] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="max_ang", type="double", value="1.658062789"
[INFO] [1700376486.437057507] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="cloud_topic", type="string", value="$(arg cloud_topic)" overwritten by default value "/scan"
[INFO] [1700376486.437062662] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="cloud_topic", type="string", value="/scan"
[INFO] [1700376486.437067622] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="frame_id", type="str", value="$(arg frame_id)" overwritten by default value "base_scan"
[INFO] [1700376486.437072079] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="frame_id", type="str", value="base_scan"
[INFO] [1700376486.437077133] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="scanner_type", type="string", value="sick_lms_5xx"
[INFO] [1700376486.437081705] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="range_min", type="double", value="0.05"
[INFO] [1700376486.437086076] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="range_max", type="double", value="100.0"
[INFO] [1700376486.437092131] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="range_filter_handling", type="int", value="0"
[INFO] [1700376486.437097480] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="intensity", type="bool", value="true"
[INFO] [1700376486.437102036] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="intensity_resolution_16bit", type="bool", value="false"
[INFO] [1700376486.437106985] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="hostname", type="string", value="$(arg hostname)" overwritten by default value "192.168.6.200"
[INFO] [1700376486.437126533] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="hostname", type="string", value="192.168.6.200"
[INFO] [1700376486.437132787] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="port", type="string", value="2112"
[INFO] [1700376486.437143925] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="timelimit", type="int", value="5"
[INFO] [1700376486.437149245] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="use_binary_protocol", type="bool", value="true"
[INFO] [1700376486.437153845] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="filter_echos", type="int", value="2"
[INFO] [1700376486.437158782] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="sw_pll_only_publish", type="bool", value="$(arg sw_pll_only_publish)" overwritten by default value "true"
[INFO] [1700376486.437163785] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="sw_pll_only_publish", type="bool", value="true"
[INFO] [1700376486.437169216] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="use_generation_timestamp", type="bool", value="true"
[INFO] [1700376486.437173998] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="min_intensity", type="double", value="0.0"
[INFO] [1700376486.437178695] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="add_transform_xyz_rpy", type="string", value="$(arg add_transform_xyz_rpy)" overwritten by default value "0,0,0,0,0,0"
[INFO] [1700376486.437189502] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="add_transform_xyz_rpy", type="string", value="0,0,0,0,0,0"
[INFO] [1700376486.437195435] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="add_transform_check_dynamic_updates", type="bool", value="$(arg add_transform_check_dynamic_updates)" overwritten by default value "false"
[INFO] [1700376486.437205299] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="add_transform_check_dynamic_updates", type="bool", value="false"
[INFO] [1700376486.437210086] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="start_services", type="bool", value="True"
[INFO] [1700376486.437214635] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="activate_lferec", type="bool", value="True"
[INFO] [1700376486.437219013] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="activate_lidoutputstate", type="bool", value="True"
[INFO] [1700376486.437223285] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="activate_lidinputstate", type="bool", value="True"
[INFO] [1700376486.437227606] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="message_monitoring_enabled", type="bool", value="True"
[INFO] [1700376486.437232023] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="read_timeout_millisec_default", type="int", value="5000"
[INFO] [1700376486.437236440] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="read_timeout_millisec_startup", type="int", value="120000"
[INFO] [1700376486.437240809] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="read_timeout_millisec_kill_node", type="int", value="150000"
[INFO] [1700376486.437254125] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="client_authorization_pw", type="string", value="F4724744"
[INFO] [1700376486.437260542] [sick_scan]: LaunchParser::parseFile(/opt/ros/foxy/share/sick_scan/launch/sick_lms_5xx.launch): name="ros_qos", type="int", value="-1"
[INFO] [1700376486.438664310] [sick_scan]: Range filter configuration: range_min=0.05, range_max=100, range_filter_handling=0
[INFO] [1700376486.438756808] [sick_scan]: Found emul_sensor overwriting default settings. Emulation:False
[INFO] [1700376486.438768948] [sick_scan]: Found sopas_protocol_type param overwriting default protocol:
[INFO] [1700376486.438778494] [sick_scan]: Binary protocol activated
[INFO] [1700376486.438829414] [sick_scan]: Start initialising scanner [Ip: 192.168.6.200] [Port:2112]
[INFO] [1700376486.439655383] [sick_scan]: PointCloudMonitor: subscribing to topic /scan, qos=0
[INFO] [1700376486.440502409] [sick_scan]: Publishing on topic "sick_lms_5xx/lferec", qos=0
[INFO] [1700376486.442546299] [sick_scan]: Publishing on topic "sick_lms_5xx/lidoutputstate", qos=0
[INFO] [1700376486.443014469] [sick_scan]: Publishing on topic "sick_lms_5xx/marker", qos=0
[INFO] [1700376486.444044975] [sick_scan]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[INFO] [1700376486.444319801] [sick_scan]: SickCloudTransform: azimuth_offset = 0 [deg]
[INFO] [1700376486.444332752] [sick_scan]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[INFO] [1700376486.444338271] [sick_scan]: SickCloudTransform: apply 3x3 rotation = false
[INFO] [1700376486.444343818] [sick_scan]: SickCloudTransform: additional translation = (0,0,0)
[INFO] [1700376486.444348438] [sick_scan]: SickCloudTransform: check_dynamic_updates = false
[INFO] [1700376486.444354145] [sick_scan]: Publishing lidar pointcloud2 to /scan
[INFO] [1700376486.444365262] [sick_scan]: Publishing on topic "/scan", qos=0
[INFO] [1700376486.444943859] [sick_scan]: Publishing on topic "sick_lms_5xx/imu", qos=0
[INFO] [1700376486.445224521] [sick_scan]: Publishing on topic "sick_lms_5xx/encoder", qos=0
[INFO] [1700376486.445644845] [sick_scan]: Publishing on topic "/scan", qos=0
[INFO] [1700376486.446056729] [sick_scan]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[INFO] [1700376486.446073511] [sick_scan]: SickCloudTransform: azimuth_offset = 0 [deg]
[INFO] [1700376486.446081568] [sick_scan]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[INFO] [1700376486.446087078] [sick_scan]: SickCloudTransform: apply 3x3 rotation = false
[INFO] [1700376486.446092540] [sick_scan]: SickCloudTransform: additional translation = (0,0,0)
[INFO] [1700376486.446097184] [sick_scan]: SickCloudTransform: check_dynamic_updates = false
[INFO] [1700376486.446130566] [sick_scan]: sick_scan_xd: Tcp::open: connecting to 192.168.6.200:2112 ...
[INFO] [1700376486.446637510] [sick_scan]: sick_scan_xd Tcp::open: connected to 192.168.6.200:2112
[INFO] [1700376486.446780335] [sick_scan]: Parameter setting for <active_echo: 0>
[INFO] [1700376486.446858068] [sick_scan]: Sending :
INFO] [1700376704.584747433] [sick_scan]: SickScanServices: Request "sRN LCMstate" successfully sent, received reply "sRA LCMstate \x00" [INFO] [1700376704.584756011] [sick_scan]: SickScanServices: request: "sRN LCMstate" [INFO] [1700376704.584761805] [sick_scan]: SickScanServices: response: "sRA LCMstate \x00" [INFO] [1700376709.591023984] [sick_scan]: SickScanServices: Sending request "sRN LCMstate" [INFO] [1700376709.591088662] [sick_scan]: Sending :sRN LCMstate CRC:<0x7a>
[WARN] [1700376711.643457865] [sick_scan]: 8 of 5474 packets dropped (0.1 perc.), maxAbsDeltaTime=0.000
[WARN] [1700376711.643872990] [sick_scan]: More packages than expected were dropped!!
Check the network connection.
Check if the system time has been changed in a leap.
If the problems can persist, disable the software PLL with the option sw_pll_only_publish=False !
[WARN] [1700376711.653279925] [sick_scan]: 9 of 5496 packets dropped (0.2 perc.), maxAbsDeltaTime=0.055
[WARN] [1700376711.653325790] [sick_scan]: More packages than expected were dropped!!
Check the network connection.
Check if the system time has been changed in a leap.
If the problems can persist, disable the software PLL with the option sw_pll_only_publish=False !
[WARN] [1700376711.653900704] [sick_scan]: 10 of 5497 packets dropped (0.2 perc.), maxAbsDeltaTime=0.650
[WARN] [1700376711.653926820] [sick_scan]: More packages than expected were dropped!!
Check the network connection.
Check if the system time has been changed in a leap.
If the problems can persist, disable the software PLL with the option sw_pll_only_publish=False !
[WARN] [1700376711.654388644] [sick_scan]: 11 of 5498 packets dropped (0.2 perc.), maxAbsDeltaTime=0.639
[WARN] [1700376711.654411008] [sick_scan]: More packages than expected were dropped!!
Check the network connection.
Check if the system time has been changed in a leap.
If the problems can persist, disable the software PLL with the option sw_pll_only_publish=False !
[INFO] [1700376711.655676431] [sick_scan]: Receiving: sRA LCMstate \x00
[WARN] [1700376711.655690942] [sick_scan]: 12 of 5499 packets dropped (0.2 perc.), maxAbsDeltaTime=0.922
[WARN] [1700376711.655735524] [sick_scan]: More packages than expected were dropped!!
Check the network connection.
Check if the system time has been changed in a leap.
If the problems can persist, disable the software PLL with the option sw_pll_only_publish=False !
[INFO] [1700376711.655720159] [sick_scan]: SickScanServices: Request "sRN LCMstate" successfully sent, received reply "sRA LCMstate \x00"
[INFO] [1700376711.656192390] [sick_scan]: SickScanServices: request: "sRN LCMstate"
[INFO] [1700376711.656199598] [sick_scan]: SickScanServices: response: "sRA LCMstate \x00"
[INFO] [1700376716.661467659] [sick_scan]: SickScanServices: Sending request "sRN LCMstate"
[INFO] [1700376716.661531619] [sick_scan]: Sending : sRN LCMstate CRC:<0x7a>
[INFO] [1700376716.662364512] [sick_scan]: Receiving: sRA LCMstate \x00
[INFO] [1700376716.662398962] [sick_scan]: SickScanServices: Request "sRN LCMstate" successfully sent, received reply "sRA LCMstate \x00"
[INFO] [1700376716.662407486] [sick_scan]: SickScanServices: request: "sRN LCMstate"
[INFO] [1700376716.662413374] [sick_scan]: SickScanServices: response: "sRA LCMstate \x00"
[INFO] [1700376721.667231338] [sick_scan]: SickScanServices: Sending request "sRN LCMstate"
[INFO] [1700376721.667279960] [sick_scan]: Sending : sRN LCMstate CRC:<0x7a>