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).
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Trying to connect to PicoScan 150 through ROS1 noetic #327
I'm currently trying to incorporate a pico scan 150 to my robot, and I followed the manual.
Changed the ip of scanner to static ip 192.168.1.200 through SOPAS ET, and the ipc with static ip 192.168.1.186 can ping the scanner.
nc -z -v -w5 192.168.1.200 2111
But when I created a container with network=host, and ran the sick_pico.launch with the following setting, I got some error and the driver restarts over and over again.
roslaunch sick_scan_xd sick_picoscan.launch hostname:=192.168.1.200 udp_receiver_ip:=192.168.1.186
`[ INFO] [1715675775.668079434]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered. [78/1934]
[ INFO] [1715675775.668137325]: MsgPack/Compact-Exporter: 2261 messages exported at 299.314 Hz, mean time: 0.163 milliseconds/messages, stddev time: 0.265, max
time: 6.296 milliseconds between udp receive and messages export, histogram=[2250,3,3,1,2,1,1,0,0,0,0]
[ INFO] [1715675775.771735412]: MsgPack/Compact-Exporter: 0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 2 [ INFO] [1715675775.771818589]: MsgPack/Compact-Exporter: 1532 udp scandata messages received, 2291 messages exported (scan+imu), 0% package lost.
[ INFO] [1715675775.771852455]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered.
[ INFO] [1715675775.771911514]: MsgPack/Compact-Exporter: 2291 messages exported at 299.176 Hz, mean time: 0.164 milliseconds/messages, stddev time: 0.270, max
time: 6.296 milliseconds between udp receive and messages export, histogram=[2279,3,4,1,2,1,1,0,0,0,0]
[ INFO] [1715675775.792970724]: MsgPack/Compact-Exporter: 0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 0 [ INFO] [1715675775.793036184]: MsgPack/Compact-Exporter: 762 udp scandata messages received, 2300 messages exported (scan+imu), 0% package lost.
[ INFO] [1715675775.793087263]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered.
[ INFO] [1715675775.793151792]: MsgPack/Compact-Exporter: 2300 messages exported at 299.520 Hz, mean time: 0.164 milliseconds/messages, stddev time: 0.270, max
time: 6.296 milliseconds between udp receive and messages export, histogram=[2288,3,4,1,2,1,1,0,0,0,0]
[ INFO] [1715675775.893474067]: MsgPack/Compact-Exporter: 0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 0 [ INFO] [1715675775.893546042]: MsgPack/Compact-Exporter: 772 udp scandata messages received, 2330 messages exported (scan+imu), 0% package lost.
[ INFO] [1715675775.893591933]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered.
[ INFO] [1715675775.893666041]: MsgPack/Compact-Exporter: 2330 messages exported at 299.507 Hz, mean time: 0.165 milliseconds/messages, stddev time: 0.268, max
time: 6.296 milliseconds between udp receive and messages export, histogram=[2318,3,4,1,2,1,1,0,0,0,0]
[ WARN] [1715675793.528244451]: Timeout during waiting for new datagram [ INFO] [1715675793.528303860]: sendSOPASCommand: no full reply available for read after 5000 ms
[ INFO] [1715675793.528358748]: Receiving:
[ INFO] [1715675793.528387684]: SOPAS Communication -Error unexpected Sopas answer for request sWN FREchoFilter 2
Hello sick team,
I'm currently trying to incorporate a pico scan 150 to my robot, and I followed the manual.
Changed the ip of scanner to static ip 192.168.1.200 through SOPAS ET, and the ipc with static ip 192.168.1.186 can ping the scanner.
nc -z -v -w5 192.168.1.200 2111
But when I created a container with network=host, and ran the sick_pico.launch with the following setting, I got some error and the driver restarts over and over again.
roslaunch sick_scan_xd sick_picoscan.launch hostname:=192.168.1.200 udp_receiver_ip:=192.168.1.186`[ INFO] [1715675775.668079434]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered. [78/1934] [ INFO] [1715675775.668137325]: MsgPack/Compact-Exporter: 2261 messages exported at 299.314 Hz, mean time: 0.163 milliseconds/messages, stddev time: 0.265, max time: 6.296 milliseconds between udp receive and messages export, histogram=[2250,3,3,1,2,1,1,0,0,0,0] [ INFO] [1715675775.771735412]: MsgPack/Compact-Exporter: 0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 2 [ INFO] [1715675775.771818589]: MsgPack/Compact-Exporter: 1532 udp scandata messages received, 2291 messages exported (scan+imu), 0% package lost. [ INFO] [1715675775.771852455]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered. [ INFO] [1715675775.771911514]: MsgPack/Compact-Exporter: 2291 messages exported at 299.176 Hz, mean time: 0.164 milliseconds/messages, stddev time: 0.270, max time: 6.296 milliseconds between udp receive and messages export, histogram=[2279,3,4,1,2,1,1,0,0,0,0] [ INFO] [1715675775.792970724]: MsgPack/Compact-Exporter: 0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 0 [ INFO] [1715675775.793036184]: MsgPack/Compact-Exporter: 762 udp scandata messages received, 2300 messages exported (scan+imu), 0% package lost. [ INFO] [1715675775.793087263]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered. [ INFO] [1715675775.793151792]: MsgPack/Compact-Exporter: 2300 messages exported at 299.520 Hz, mean time: 0.164 milliseconds/messages, stddev time: 0.270, max time: 6.296 milliseconds between udp receive and messages export, histogram=[2288,3,4,1,2,1,1,0,0,0,0] [ INFO] [1715675775.893474067]: MsgPack/Compact-Exporter: 0 udp packages still in input fifo, 0 messages still in output fifo, current segment index: 0 [ INFO] [1715675775.893546042]: MsgPack/Compact-Exporter: 772 udp scandata messages received, 2330 messages exported (scan+imu), 0% package lost. [ INFO] [1715675775.893591933]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 6 export messages buffered. [ INFO] [1715675775.893666041]: MsgPack/Compact-Exporter: 2330 messages exported at 299.507 Hz, mean time: 0.165 milliseconds/messages, stddev time: 0.268, max time: 6.296 milliseconds between udp receive and messages export, histogram=[2318,3,4,1,2,1,1,0,0,0,0] [ WARN] [1715675793.528244451]: Timeout during waiting for new datagram [ INFO] [1715675793.528303860]: sendSOPASCommand: no full reply available for read after 5000 ms [ INFO] [1715675793.528358748]: Receiving:
[ INFO] [1715675793.528387684]: SOPAS Communication -Error unexpected Sopas answer for request sWN FREchoFilter 2
[ERROR] [1715675793.528448628]: ## ERROR SickScanServices::sendSopasAndCheckAnswer: error sending sopas command "sWN FREchoFilter 2" [ERROR] [1715675793.528500766]: ## ERROR SickScanServices::sendSopasCmdCheckResponse() failed on sending command"sWN FREchoFilter 2" [ERROR] [1715675793.528566705]: ## ERROR SickScanServices::writeMultiScanFiltersettings(): sendSopasCmdCheckResponse("sWN FREchoFilter 2") failed.`
May I ask how to solve the issue? Thanks in advance