Cannot fetch profiles: Error in header

[VictorLamoine]

Ubuntu 16.04 and ROS Kinetic.

Hardware:

• LV-V7001P
• CB-EP100 (plugged but un-used), Ethernet cable is connected on the LJ-V7001P
• LJ-V7200 head

When running the keyence_driver_node I have an error:

Error code in header:
Header return code: 0
Body length: 36
Command code: 66
Command return code: 128
Controller status: 0
Active program no: 0

• The controller error led is off
• Everything works on Windows when connected in Ethernet with the controller.

Did you face the same issue? Solved it?

My launch file

<?xml version="1.0"?>
<launch>
  <node pkg="keyence_experimental" type="keyence_driver_node" name="keyence_driver_node" args="_controller_ip:=192.168.100.200" output="screen"/>
  <node pkg="tf2_ros" type="static_transform_publisher" name="tf2_static" args="0 0 0 0 0 0 base_link sensor_optical_frame" output="screen"/>
  <node pkg="rviz" type="rviz" name="rviz" args="-s '' -d $(find keyence_experimental)/config/visualize.rviz " output="screen" required="true"/>
</launch>

More logs:

... logging to /home/victor/.ros/log/168b2cd2-0d55-11e7-85ba-34e6d766b009/roslaunch-VL-M4800-23074.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://VL-M4800:41881/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    keyence_driver_node (keyence_experimental/keyence_driver_node)
    rviz (rviz/rviz)
    tf2_static (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [23085]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 168b2cd2-0d55-11e7-85ba-34e6d766b009
process[rosout-1]: started with pid [23098]
started core service [/rosout]
process[rviz-2]: started with pid [23105]
process[tf2_static-3]: started with pid [23116]
process[keyence_driver_node-4]: started with pid [23117]
[ INFO] [1490004476.621020178]: Spinning until killed publishing base_link to sensor_optical_frame
[ INFO] [1490004476.626860312]: Attempting to connect to 192.168.100.200 (TCP 24691); expecting a single head attached to port A.
[ INFO] [1490004476.640364427]: Connection established to Keyence controller.
[ INFO] [1490004476.640396553]: Beginning with program 0 with a sampling rate of 1000.000000
[ INFO] [1490004476.641143577]: Keyence connection established
[ INFO] [1490004476.641161367]: Attempting to publish at 1000.00 Hz.
[ INFO] [1490004476.642267209]: No (more) subscribers. Not polling sensor.
[ INFO] [1490004476.701978640]: rviz version 1.12.4
[ INFO] [1490004476.702013725]: compiled against Qt version 5.5.1
[ INFO] [1490004476.702032137]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1490004477.527989267]: Stereo is NOT SUPPORTED
[ INFO] [1490004477.528066214]: OpenGl version: 4.5 (GLSL 4.5).
[ERROR] [1490004477.877250946]: Error code in header:
Header return code: 0
Body length: 36
Command code: 66
Command return code: 128
Controller status: 0
Active program no: 0

[VictorLamoine]

Do you use a CB-EP100 extension with this controller ? If yes do you plug the Ethernet cable on it?

If I do, the port 24691 is filtered, it does not seem to be open.

I don't know what is the purpose of this extension, we bought it without being 100% sure we needed it :dizzy_face:

[gavanderhoorn]

I'm not sure, but I don't think the documentation that you screenshotted is for command 66.

66 == 0x42 (implemented here).

According to my documentation, 128 (== 0x80) means: "mode is advanced mode", which probably means that the sensor is not in the expected mode.

[VictorLamoine]

I'm reading the "LJ-V7000 Series Users's Manual" PDF. Section "Error Messages" page 409.

I don't know where are the command/errors codes for the Ethernet protocol!

Maybe I'm not reading the right document?

[gavanderhoorn]

I don't know where are the command/errors codes for the Ethernet protocol!

afaik, they're not documented in any publicly available document.

[Jmeyer1292]

Hey Victor. I do not have the extension, and I only have one head.

When you configure programs on the Windows side, do you see an option to switch between advanced mode and high-speed mode?

[VictorLamoine]

I completely forgot to respond and close this issue! The sensor was in advanced mode rather than high-speed mode.

Thanks for your help