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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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Driver error cannot receive telegram #258

Closed SICK-AliciaTee closed 6 months ago

SICK-AliciaTee commented 7 months ago

Hi we have a customer having ROS1 installed on Ubuntu 20.04, please refer to attached logs:

Looks like they are not able to stream telegram.

What should we do in this case?

Thank you. Drexel Log20240108.txt

rostest commented 7 months ago

Thanks for your feedback and logfile. According to the logfile, the first run fails with multiScan error code 0x0A after sending SOPAS-commands SetAccessMode and FREchoFilter:

roslaunch sick_scan_xd sick_multiscan.launch hostname:=192.168.0.1 udp_receiver_ip:=192.168.0.50
...
[ INFO] [1704745153.476145988]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[ INFO] [1704745153.478653580]: Receiving: <STX>sAN SetAccessMode 0<ETX>
[ INFO] [1704745153.478824703]: Sending  : <STX>sWN FREchoFilter 2<ETX>
[ INFO] [1704745153.479388477]: Receiving: <STX>sFA A<ETX>
[ WARN] [1704745153.479433092]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX>sWN FREchoFilter 2<ETX>, received answer: "sFA A", expected patterns: "sWA FREchoFilter","sAN FREchoFilter"
...
[ERROR] [1704745158.480272435]: ## ERROR SickScanServices::sendSopasAndCheckAnswer: error sending sopas command "sWN FREchoFilter 2"

Error code 0x0A means Sopas_Error_VARIABLE_WRITE_ACCESSDENIED (see telegram listing for details). The multiscan filter commands require

Most probably the firmware needs to be updated. Please check the firmware version and settings with SOPAS Air, i.e. open //192.168.0.1 in a browser and check the firmware version. Then use SOPAS ET for a firmware update.

The second run in the logfile fails because parameter hostname (IP-address of lidar) and udp_receiver_ip (IP-address of the PC running sick_scan_xd) are exchanged and the lidar can not be reached.