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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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Running MRS_6xxx driver on RaspberryPi5 with ROS1 Noetic #303

Closed Syulei closed 6 months ago

Syulei commented 6 months ago

Hi team,

I want to receive data on a Raspberry Pi5 and transmit them to server. I install Docker and run an image with Ubuntu20 and ROS1 installed, then build the sick_scan_xd file in the container. I noticed the statement that LDMRS_6xxx is not supported on Raspberry, but I still tried to build the sick_scan_xd, without setting "-DRASPBERRY=1". When I try to run the launch file, it has these errors. It cannot set up the TCP connection between lidar and Raspberry Pi. Does that mean MRS_6xxx is not supported on Raspberry Pi?

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Is there other solutions could figure this? Could you recommend better solutions for me? Thanks so much!

rostest commented 6 months ago

Thanks for your feedback. Except for LDMRS lidars, sick_scan_xd supports MRS-6xxx and all devices listed in https://github.com/SICKAG/sick_scan_xd/blob/develop/REQUIREMENTS.md on both x64 and ARM architectures including Raspberry. If you have a MRS-6xxx lidar, build with cmake flags -DLDMRS=0 -DRASPBERRY=1 as described in https://github.com/SICKAG/sick_scan_xd/blob/develop/INSTALL-ROS1.md. Optional cmake-flag -DRASPBERRY=1 activates some minor optimizations on Raspberries. Run the driver with roslaunch sick_scan_xd sick_mrs_6xxx.launch hostname:=<mrs6xxx_ip_adress>, where <mrs6xxx_ip_adress> has to be the ip adress of your lidar.

The screenshot shows that sick_scan_xd can not open a tcp connection to 192.168.0.1, which is the default ip adress of MRS-6xxx lidars. Make sure, that your lidar is reachable (on Raspberry and in docker) and that the correct ip address is given by parameter hostname:=<mrs6xxx_ip_adress>. If in doubt, use SOPAS ET to get or set the lidars ip adress and try ping <mrs6xxx_ip_adress> to check that the device can be reached.

sick_scan_xd uses libsick_ldmrs to support LDMRS lidars. As far as I know, libsick_ldmrs does not support Raspberries resp. ARM architectures. If you are using a LDMRS, you may nevertheless try by building libsick_ldmrs as decscribed in https://github.com/SICKAG/sick_scan_xd/blob/develop/INSTALL-GENERIC.md#build-on-linux-generic-without-ros and cmake flag -DLDMRS=1.

Syulei commented 6 months ago

Thanks! Clarify a lot in the post. Now I pinged the address for lidar 192.168.0.5 and got the response in the container. And the driver still cannot set up the TCP connection. I think it is not the problem with the driver, but the problem from the docker and container.

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I am trying to rebuild sick_scan_xd. Or try a normal way without docker, building ROS2 version.

Syulei commented 6 months ago

After adjusted IP address again, it works, and now receiving data in container! Thanks!