Error after SOPAS command SetAccessMode

[rostest]

The driver restarts due to timeout after entering SOPAS command SetAccessMode:

rosservice call /sick_tim_7xx/ColaMsg "{request: 'sMN SetAccessMode 3 F4724744'}"

Subsequent SOPAS commands like sWN LFPparticle result in error messages.

[rostest]

Due to the SetAccessMode command, the TiM-7 stops measuring. While waiting for scan data, ros services are not served. After 5 seconds without receiving scan data, the driver restarts by timeout. To solve the issue, the driver must be modified to concurrently execute the ros event loop (to serve ros messages and service calls) and the laser message loop (to receive scan data).

[rostest]

Driver update 16.3.2022:

• Laser- and ROS-event loops are running concurrently
• SOPAS commands like sMN SetAccessMode 3 F4724744 stop the current measurement of a TiM-7. In this case, the driver restarts after a timeout (5 seconds by default). To process those SOPAS commands without restart, you can
  • send sMN LMCstartmeas and sMN Run to switch again into measurement mode within the timeout, or
  • increase the driver timeout read_timeout_millisec_default in the launch-file.
• Example sequence with stop and start measurement to set a particle filter (TiM-7xxx on ROS-1):

  rosservice call /sick_tim_7xx/ColaMsg "{request: 'sMN SetAccessMode 3 F4724744'}"
  rosservice call /sick_tim_7xx/ColaMsg "{request: 'sRN LFPparticle'}" # response: "sRA LFPparticle \\x00\\x01\\xf4"
  rosservice call /sick_tim_7xx/ColaMsg "{request: 'sWN LFPparticle 0101F4'}" # response: "sWA LFPparticle"
  rosservice call /sick_tim_7xx/ColaMsg "{request: 'sMN LMCstartmeas'}"
  rosservice call /sick_tim_7xx/ColaMsg "{request: 'sMN Run'}"

• Example screenshot:

[rostest]

Fixed by https://github.com/SICKAG/sick_scan_xd/releases/tag/2.5.1