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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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The sick driver disconnected with sick picscan150 while robot is running and can't reconnect again except power recycle #360

Closed Phymin closed 1 week ago

Phymin commented 1 month ago

Hi

We are using the ros2 humble sick_scan_xd driver for sick picoscan150, and current we encountered an timeout issue during robot running: there is no topic published. After that, we launch the picoscan150 launch file sepratedly, but it still doesn't work. (see the log attached below). After we power cycle the lidar, this issue resolved, could you tell us why this issue happens and how can we fix it? Thanks. sicklaunchfaied.txt

rostest commented 1 month ago

Thanks for your feedback and logfile. The lidar responds with error code 3 (unknown sopas index) to the IMU activation command "sWN ImuDataEnable 1". It means that your lidar does not support an Inertial Measurement Unit (IMU).

Your lidar is most likely a picoScan model w/o addons, which do not have an IMU. Please disable the IMU in the launchfile sick_picoscan.launch: <param name="imu_enable" type="bool" value="False"/> <!-- Enable or disable inertial measurement unit IMU --> Alternatively, use launch file sick_picoscan_single_echo.launch, which does not activate the IMU.