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uos / sick_tim

A ROS driver for the SICK TiM series of laser scanners.
http://wiki.ros.org/sick_tim
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massage rate issus #40

Closed deepzf closed 8 years ago

deepzf commented 8 years ago

i used tim361 and "rostopic echo" to linstenintg laser's message . as the sepc of Tim361 shows it should report the ranges at 15Hz,but "rostopic echo" only updated about 5Hz,and Rviz updated messages at same rate. i tryed to use SopasET to config tim361 but nothing found, the report rate is an read only pram. the fireware of my tim361 is 2.42 How can i rise up the update rate in ros

deepzf commented 8 years ago

SopasET shows the Frequency is 15Hz

mintar commented 8 years ago

That is weird, I've never had that problem before. Any other hints to solve this? Does the driver print any error messages?

jspricke commented 8 years ago

Can you try rostopic hz /scan?

deepzf commented 8 years ago

root@raspberrypi:/home/pi# rostopic hz /scan subscribed to [/scan] average rate: 4.988 min: 0.198s max: 0.202s std dev: 0.00164s window: 5 average rate: 4.994 min: 0.197s max: 0.203s std dev: 0.00182s window: 10 average rate: 4.997 min: 0.197s max: 0.203s std dev: 0.00167s window: 15 average rate: 4.998 min: 0.197s max: 0.203s std dev: 0.00167s window: 20 average rate: 4.998 min: 0.197s max: 0.203s std dev: 0.00169s window: 25 average rate: 4.998 min: 0.197s max: 0.203s std dev: 0.00165s window: 30

deepzf commented 8 years ago

root@raspberrypi:/home/pi# roslaunch sick_tim sick_tim551_2050001.launch ... logging to /root/.ros/log/fc6d9a8c-6d46-11e6-b51d-b827eb57f198/roslaunch-raspberrypi-12471.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://raspberrypi:42284/

SUMMARY

PARAMETERS

NODES / robot_state_publisher (robot_state_publisher/state_publisher) sick_tim551_2050001 (sick_tim/sick_tim551_2050001)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[robot_state_publisher-1]: started with pid [12492] process[sick_tim551_2050001-2]: started with pid [12493] [ INFO] [1472406861.672840922]: SICK AG - TIM3XX - [1]

[ INFO] [1472406861.673258419]: Device Class: 0x0 [ INFO] [1472406861.673330918]: VendorID: 0x19a2 [ INFO] [1472406861.673404303]: ProductID: 0x5001

[ INFO] [1472406861.673577010]: Interfaces: 1

[ INFO] [1472406861.673725706]: Number of alternate settings: 1 [ INFO] [1472406861.673801851]: Interface number: 0 [ INFO] [1472406861.673877267]: Number of endpoints: 2 [ INFO] [1472406861.673946069]: Descriptor Type: 5 [ INFO] [1472406861.674017214]: EP Address: 129 [ INFO] [1472406861.674084193]: Descriptor Type: 5 [ INFO] [1472406861.674146484]: EP Address: 2

[ INFO] [1472406861.674510751]: LIBUSB - Claimed interface [ WARN] [1472406861.753457616]: hex: 5DC, scanning_freq: 1500, scan_time: 0.066667 [ WARN] [1472406861.754372191]: Intensity parameter is enabled, but the scanner is not configured to send RSSI values! Please read the section 'Enabling intensity (RSSI) output' here: http://wiki.ros.org/sick_tim. [ WARN] [1472406861.953578684]: hex: 5DC, scanning_freq: 1500, scan_time: 0.066667 [ WARN] [1472406862.153598556]: hex: 5DC, scanning_freq: 1500, scan_time: 0.066667 [ WARN] [1472406862.356201790]: hex: 5DC, scanning_freq: 1500, scan_time: 0.066667 [ WARN] [1472406862.553421009]: hex: 5DC, scanning_freq: 1500, scan_time: 0.066667 ps:warn messages of scanning_freq is only for debug

jspricke commented 8 years ago

Ah, you are using a raspberry pi. Can you try it on a desktop computer?

deepzf commented 8 years ago

Ok,i will try it later,by the way,what is the meaning of 'scanning_freq:1500'

mintar commented 8 years ago

Ok,i will try it later,by the way,what is the meaning of 'scanning_freq:1500'

That's the scanning frequency in 1/100 Hz, meaning 15 Hz. This is fixed for all SICK TiMs and cannot be changed.

Also I don't think it's a performance problem caused by the raspberry pi. The rostopic hz output looks to be suspiciously close to 5 Hz, so the publication rate is probably limited by our driver.

My guess is that you set the parameter skip = 2 (which means, drop 2 out of 3 messages, resulting in 5 Hz). The solution is to set skip = 0 (for example by using rqt_reconfigure).

You can check via rosparam dump | grep skip.

deepzf commented 8 years ago

root@raspberrypi:/home/pi# rosparam dump | grep skip skip: 0, time_increment: 5.5556e-05, time_offset: -0.001}

deepzf commented 8 years ago

@I made some tests，maybe the true Frequency of the massage is only 5Hz due to the firmware

mintar commented 8 years ago

I think the SopasET software has a scan visualization function. Does it look better there?

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deepzf commented 8 years ago

SopasET shows rages at the same Frequency，so i think it‘s the firmware issue

deepzf commented 8 years ago

thanks for all