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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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LMS511 msg packages dropped，how to slove it please? #233

Closed hoopp closed 8 months ago

hoopp commented 9 months ago

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>

hoopp commented 9 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 : sRN SCdevicestate CRC:<0x30> [INFO] [1700376486.446911519] [sick_scan]: SickThread TcpRecvThread started. [INFO] [1700376486.449552797] [sick_scan]: Receiving: sRA SCdevicestate \x01 [INFO] [1700376486.449581733] [sick_scan]: checkColaDialect: lidar response in configured Cola-dialect Cola-B [INFO] [1700376486.649844595] [sick_scan]: Sending : sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3> [INFO] [1700376486.652673190] [sick_scan]: Receiving: sAN SetAccessMode \x01 [INFO] [1700376486.852982472] [sick_scan]: Sending : sWN EIHstCola 0x01 CRC:<0x09> [INFO] [1700376486.853840253] [sick_scan]: Receiving: sWA EIHstCola [INFO] [1700376487.053970240] [sick_scan]: Sending : sRN FirmwareVersion CRC:<0x24> [INFO] [1700376487.054819987] [sick_scan]: Receiving: sRA FirmwareVersion \x00\x09\x56\x32\x2e\x30\x31\x20\x20\x20\x20 [INFO] [1700376487.254979946] [sick_scan]: Sending : sRN SCdevicestate CRC:<0x30> [INFO] [1700376487.255783860] [sick_scan]: Receiving: sRA SCdevicestate \x00 [INFO] [1700376487.455953908] [sick_scan]: Sending : sRN ODoprh CRC:<0x41> [INFO] [1700376487.456692640] [sick_scan]: Receiving: sRA ODoprh \x00\x00\x16\x05 [INFO] [1700376487.656916490] [sick_scan]: Sending : sRN ODpwrc CRC:<0x52> [INFO] [1700376487.657881146] [sick_scan]: Receiving: sRA ODpwrc \x00\x00\x01\x9a [INFO] [1700376487.858051536] [sick_scan]: Sending : sRN LocationName CRC:<0x55> [INFO] [1700376487.858895391] [sick_scan]: Receiving: sRA LocationName \x00\x0b\x53\x4e\x20\x32\x32\x30\x36\x30\x33\x38\x34 [INFO] [1700376487.858986791] [sick_scan]: Sending : sRN LMPoutputRange CRC:<0x5e> [INFO] [1700376487.859840702] [sick_scan]: Receiving: sRA LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xff\x3c\xb0\x00\x1c\x3a\x90 [INFO] [1700376487.859879181] [sick_scan]: Angle resolution of scanner is 0.25 [deg] (in 1/10000th deg: 2500) [INFO] [1700376487.859890163] [sick_scan]: [From:To] -5 [deg] to 185 [deg] (in 1/10000th deg: from -50000 to 1850000) [INFO] [1700376487.859897184] [sick_scan]: MIN_ANG: -1.65806 [rad] -95 [deg] [INFO] [1700376487.859913073] [sick_scan]: MAX_ANG: 1.65806 [rad] 95 [deg] [INFO] [1700376487.859932582] [sick_scan]: Sending : sWN LMPoutputRange 0x00 0x01 0x00 0x00 0x09 0xc4 0xff 0xff 0x3c 0xb0 0x00 0x1c 0x3a 0x90 CRC:<0x8d> [INFO] [1700376487.860665721] [sick_scan]: Receiving: sWA LMPoutputRange [INFO] [1700376487.860698415] [sick_scan]: Sending : sRN LMPoutputRange CRC:<0x5e> [INFO] [1700376487.861485277] [sick_scan]: Receiving: sRA LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xff\x3c\xb0\x00\x1c\x3a\x90 [INFO] [1700376487.861526824] [sick_scan]: Angle resolution of scanner is 0.25 [deg] (in 1/10000th deg: 2500) [INFO] [1700376487.861571273] [sick_scan]: MIN_ANG (after command verification): -1.65806 [rad] -95 [deg] [INFO] [1700376487.861580085] [sick_scan]: MAX_ANG (after command verification): 1.65806 [rad] 95 [deg] [INFO] [1700376487.861587826] [sick_scan]: LMS 5xx detected overwriting output channel flag ID [INFO] [1700376487.861592236] [sick_scan]: LMS 5xx detected overwriting resolution flag (only 8 bit supported) [INFO] [1700376487.861596060] [sick_scan]: Reading safety fields [INFO] [1700376487.862201502] [sick_scan]: Sending : sRN field000 CRC:<0x1d> [INFO] [1700376487.863139606] [sick_scan]: Receiving: sRA field000 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.863178350] [sick_scan]: Sending : sRN field001 CRC:<0x1c> [INFO] [1700376487.864227070] [sick_scan]: Receiving: sRA field001 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.864266124] [sick_scan]: Sending : sRN field002 CRC:<0x1f> [INFO] [1700376487.865252078] [sick_scan]: Receiving: sRA field002 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.865287302] [sick_scan]: Sending : sRN field003 CRC:<0x1e> [INFO] [1700376487.866267170] [sick_scan]: Receiving: sRA field003 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.866301464] [sick_scan]: Sending : sRN field004 CRC:<0x19> [INFO] [1700376487.867440546] [sick_scan]: Receiving: sRA field004 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.867479299] [sick_scan]: Sending : sRN field005 CRC:<0x18> [INFO] [1700376487.868529722] [sick_scan]: Receiving: sRA field005 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.868561243] [sick_scan]: Sending : sRN field006 CRC:<0x1b> [INFO] [1700376487.869611513] [sick_scan]: Receiving: sRA field006 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.869648392] [sick_scan]: Sending : sRN field007 CRC:<0x1a> [INFO] [1700376487.870695480] [sick_scan]: Receiving: sRA field007 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.870732287] [sick_scan]: Sending : sRN field008 CRC:<0x15> [INFO] [1700376487.871800902] [sick_scan]: Receiving: sRA field008 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.871836539] [sick_scan]: Sending : sRN field009 CRC:<0x14> [INFO] [1700376487.872927257] [sick_scan]: Receiving: sRA field009 @\x00\x00\x00\x00\x00\x00\x00\x00\x00\x13\x88\xff\xff\x3c\xb0\x02\x00\x00\x00... [INFO] [1700376487.872962938] [sick_scan]: Sending : sRN field010 CRC:<0x1c> [INFO] [1700376487.873786366] [sick_scan]: Receiving: sRA field010 \x00 [INFO] [1700376487.873817298] [sick_scan]: Sending : sRN field011 CRC:<0x1d> [INFO] [1700376487.874536824] [sick_scan]: Receiving: sRA field011 \x00 [INFO] [1700376487.874574940] [sick_scan]: Sending : sRN field012 CRC:<0x1e> [INFO] [1700376487.875385153] [sick_scan]: Receiving: sRA field012 \x00 [INFO] [1700376487.875430595] [sick_scan]: Sending : sRN field013 CRC:<0x1f> [INFO] [1700376487.876137269] [sick_scan]: Receiving: sRA field013 \x00 [INFO] [1700376487.876171306] [sick_scan]: Sending : sRN field014 CRC:<0x18> [INFO] [1700376487.876875033] [sick_scan]: Receiving: sRA field014 \x00 [INFO] [1700376487.876912117] [sick_scan]: Sending : sRN field015 CRC:<0x19> [INFO] [1700376487.877761708] [sick_scan]: Receiving: sRA field015 \x00 [INFO] [1700376487.877794613] [sick_scan]: Sending : sRN field016 CRC:<0x1a> [INFO] [1700376487.878501193] [sick_scan]: Receiving: sRA field016 \x00 [INFO] [1700376487.878544647] [sick_scan]: Sending : sRN field017 CRC:<0x1b> [INFO] [1700376487.879283991] [sick_scan]: Receiving: sRA field017 \x00 [INFO] [1700376487.879314798] [sick_scan]: Sending : sRN field018 CRC:<0x14> [INFO] [1700376487.880070392] [sick_scan]: Receiving: sRA field018 \x00 [INFO] [1700376487.880101502] [sick_scan]: Sending : sRN field019 CRC:<0x15> [INFO] [1700376487.880895384] [sick_scan]: Receiving: sRA field019 \x00 [INFO] [1700376487.880941899] [sick_scan]: Sending : sRN field020 CRC:<0x1f> [INFO] [1700376487.881725804] [sick_scan]: Receiving: sRA field020 \x00 [INFO] [1700376487.881752842] [sick_scan]: Sending : sRN field021 CRC:<0x1e> [INFO] [1700376487.882541223] [sick_scan]: Receiving: sRA field021 \x00 [INFO] [1700376487.882573756] [sick_scan]: Sending : sRN field022 CRC:<0x1d> [INFO] [1700376487.883270456] [sick_scan]: Receiving: sRA field022 \x00 [INFO] [1700376487.883301120] [sick_scan]: Sending : sRN field023 CRC:<0x1c> [INFO] [1700376487.884072119] [sick_scan]: Receiving: sRA field023 \x00 [INFO] [1700376487.884103855] [sick_scan]: Sending : sRN field024 CRC:<0x1b> [INFO] [1700376487.884862794] [sick_scan]: Receiving: sRA field024 \x00 [INFO] [1700376487.884904783] [sick_scan]: Sending : sRN field025 CRC:<0x1a> [INFO] [1700376487.885661158] [sick_scan]: Receiving: sRA field025 \x00 [INFO] [1700376487.885696309] [sick_scan]: Sending : sRN field026 CRC:<0x19> [INFO] [1700376487.886398715] [sick_scan]: Receiving: sRA field026 \x00 [INFO] [1700376487.886424279] [sick_scan]: Sending : sRN field027 CRC:<0x18> [INFO] [1700376487.887178563] [sick_scan]: Receiving: sRA field027 \x00 [INFO] [1700376487.887210482] [sick_scan]: Sending : sRN field028 CRC:<0x17> [INFO] [1700376487.888040154] [sick_scan]: Receiving: sRA field028 \x00 [INFO] [1700376487.888070435] [sick_scan]: Sending : sRN field029 CRC:<0x16> [INFO] [1700376487.888917988] [sick_scan]: Receiving: sRA field029 \x00 [INFO] [1700376487.888950077] [sick_scan]: Sending : sRN LIDinputstate CRC:<0x0f> [INFO] [1700376487.889700882] [sick_scan]: Receiving: sRA LIDinputstate \x00\x00\x00\x3a\xae\x0d\x00\x00\x00\x00\x00\x01\x07\xb2\x01\x01\x00\x00... [INFO] [1700376487.889739962] [sick_scan]: Safety fieldset response to "sRN LIDinputstate": \x02\x02\x02\x02\x00\x00\x00\x29sRA LIDinputstate \x00\x00\x00\x3a\xae\x0d\x00\x00\x00\x00\x00\x01\x07\xb2\x01\x01\x00\x00\x03\x00\x0b\xee\xb0\x5b, active fieldset = 0 [INFO] [1700376487.889772014] [sick_scan]: Safety fieldset 0, pointcounter = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] [INFO] [1700376487.889806209] [sick_scan]: Sending : sWN LMDscandatacfg 0x01 0x00 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 0x00 0x01 CRC:<0x42> [INFO] [1700376487.890567259] [sick_scan]: Receiving: sWA LMDscandatacfg [INFO] [1700376487.890602442] [sick_scan]: Sending : sRN LMDscandatacfg CRC:<0x67> [INFO] [1700376487.891393089] [sick_scan]: Receiving: sRA LMDscandatacfg \x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01 [INFO] [1700376487.891463063] [sick_scan]: Sending : sWN FREchoFilter 0x02 CRC:<0x7d> [INFO] [1700376487.892264712] [sick_scan]: Receiving: sWA FREchoFilter [INFO] [1700376487.892302767] [sick_scan]: sick_lms_5xx: activating field monitoring by lferec messages [INFO] [1700376487.892313680] [sick_scan]: sick_lms_5xx: activating field monitoring by lidoutputstate messages [INFO] [1700376487.892333337] [sick_scan]: sick_lms_5xx: activating field monitoring by lidinputstate messages [INFO] [1700376487.892346943] [sick_scan]: Sending : sEN LFErec 0x01 CRC:<0x42> [INFO] [1700376487.893040001] [sick_scan]: Receiving: sEA LFErec \x01

hoopp commented 9 months ago

The network cable connection is strong.There were more than 10 disconnections yesterday.

hoopp commented 9 months ago

The IPC is connected to SICK lms511 through the enp1s0 network port. The kernel logs of the IPC are as follows: image After the network is disconnected（ enp1so link is down）, it will also appear that "[sick_scan]: More packages than expected were dropped!! Check the network connection. Check if the system time has been changed in a leap". I repeatedly checked that the network cable connection between the two devices is secure and there is OK。 -- 1.Please ask that it is IPC's issue or sicklms511's issue? -- 2.How to analysis and solve it？

rostest commented 9 months ago

Thanks for your feedback. sick_scan_xd converts the lidar timestamp to the ROS system time using a Software PLL. The difference between the lidar timestamp and the ros timestamp when receiving the scan data is computed and a linear regression between lidar and ros time is continously calculated. See https://github.com/SICKAG/sick_scan_xd/blob/master/doc/software_pll.md for details.

If a TCP packet is delayed due to network traffic, the distance between lidar and ros timestamp can differ from the values calculated so far. In this case, the packet is not used to adjust the Software PLL and a warning is printed. If this happens occasionally like 12 of 5499 packets dropped (0.2 perc.), it will have little impact on the timestamps generated. If this happens often, this indicates too high network traffic and may cause inaccurate timestamps.

Network disconnections like enp1so link is down are not caused by sick_scan_xd. sick_scan_xd may close and reconnect a tcp socket after network or other unrecoverable errors, but this will not shutdown the entire network.

hoopp commented 8 months ago

Thanks a lot!

rostest commented 8 months ago

@hoopp You're welcome!