Closed rostest closed 2 years ago
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).
Driver update 16.3.2022:
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
sMN LMCstartmeas
and sMN Run
to switch again into measurement mode within the timeout, orread_timeout_millisec_default
in the launch-file.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'}"
The driver restarts due to timeout after entering SOPAS command SetAccessMode:
Subsequent SOPAS commands like
sWN LFPparticle
result in error messages.