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Scanner Connection Error Code: 1 #28

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MonteiroMarcos opened this issue Oct 8, 2021 · 7 comments
Closed

Scanner Connection Error Code: 1 #28

MonteiroMarcos opened this issue Oct 8, 2021 · 7 comments

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@MonteiroMarcos
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The ROS 2 Driver connection

I am using the MRS1000 on ROS2, the sick_scan2 connection is not working when I launch sick_mrs_1xxx.launch.py for the first time. Relaunching it I am able to connect, I need to relauch twice at least to establish a connection.

Sensor Model: MRS1000
Version: 2.2.1
Serial Number: 21050060

root@xxx-proto:~# ros2 launch sick_scan2 sick_mrs_1xxx.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2021-10-08-09-35-10-742875-xxx-proto-7313
[INFO] [launch]: Default logging verbosity is set to INFO
/home/xxx/sick_scan_ws/install/sick_scan2/share/sick_scan2/launch/sick_mrs_1xxx.launch.py:13: 
UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead node=Node(
[INFO] [sick_generic_caller-1]: process started with pid [7315]
[sick_generic_caller-1] [INFO] [1633685710.879919007] [sick_scan2]: sick_generic_caller V. 001.009.000
[sick_generic_caller-1] [INFO] [1633685710.880115497] [sick_scan2]: Program arguments: /home/xxx/sick_scan_ws/install/sick_scan2/lib/sick_scan2/sick_generic_caller
[sick_generic_caller-1] [INFO] [1633685710.880157387] [sick_scan2]: Program arguments: --ros-args
[sick_generic_caller-1] [INFO] [1633685710.880193421] [sick_scan2]: Program arguments: -r
[sick_generic_caller-1] [INFO] [1633685710.880225582] [sick_scan2]: Program arguments: __node:=sick_scan2
[sick_generic_caller-1] [INFO] [1633685710.880255632] [sick_scan2]: Program arguments: --params-file
[sick_generic_caller-1] [INFO] [1633685710.880285969] [sick_scan2]: Program arguments: /home/xxx/sick_scan_ws/install/sick_scan2/share/sick_scan2/config/sick_mrs_1xxx.yaml
[sick_generic_caller-1] [INFO] [1633685710.880315795] [sick_scan2]: sick_generic_caller: scanner_name: sick_mrs_1xxx, hostname: 192.168.11.33, port: 2112
[sick_generic_caller-1] [INFO] [1633685710.880464762] [sick_scan2]: Start initialising scanner ...
[sick_generic_caller-1] [INFO] [1633685710.880509500] [sick_scan2]: hostname: 192.168.11.33
[sick_generic_caller-1] [INFO] [1633685710.880540574] [sick_scan2]: Port    : 2112
[sick_generic_caller-1] [INFO] [1633685710.885994992] [sick_scan2]: Parameter setting for <active_echo: 0>
[sick_generic_caller-1] [INFO] [1633685710.886108470] [sick_scan2]: Command: <STX>sMN SetAccessMode 3 F4724744<ETX>
[sick_generic_caller-1] [INFO] [1633685710.886229340] [sick_scan2]: Sending  : sMN SetAccessMode \x03\xf4\x72\x47\x44
[sick_generic_caller-1] [INFO] [1633685710.907107860] [sick_scan2]: Receiving: <STX>sAN SetAccessMode \x01<ETX>
[sick_generic_caller-1] [INFO] [1633685710.907273564] [sick_scan2]: Command: <STX>sWN EIHstCola 1<ETX>
[sick_generic_caller-1] [INFO] [1633685710.907363841] [sick_scan2]: Sending  : sWN EIHstCola \x01
[sick_generic_caller-1] [INFO] [1633685710.927647675] [sick_scan2]: Receiving: <STX>sWA EIHstCola <ETX>
[sick_generic_caller-1] [INFO] [1633685710.927815620] [sick_scan2]: Command: <STX>sMN LMCstopmeas<ETX>
[sick_generic_caller-1] [INFO] [1633685710.927907208] [sick_scan2]: Sending  : sMN LMCstopmeas
[sick_generic_caller-1] [INFO] [1633685710.938160939] [sick_scan2]: Receiving: <STX>sAN LMCstopmeas \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685710.938323091] [sick_scan2]: Command: <STX>sWN SetActiveApplications 1 FEVL 0<ETX>
[sick_generic_caller-1] [INFO] [1633685710.938430329] [sick_scan2]: Sending  : sWN SetActiveApplications \x00\x01\x46\x45\x56\x4c\x00
[sick_generic_caller-1] [INFO] [1633685710.949949051] [sick_scan2]: Receiving: <STX>sWA SetActiveApplications <ETX>
[sick_generic_caller-1] [INFO] [1633685710.950110339] [sick_scan2]: Command: <STX>sWN SetActiveApplications 1 RANG 1<ETX>
[sick_generic_caller-1] [INFO] [1633685710.950216457] [sick_scan2]: Sending  : sWN SetActiveApplications \x00\x01\x52\x41\x4e\x47\x01
[sick_generic_caller-1] [INFO] [1633685710.960449674] [sick_scan2]: Receiving: <STX>sWA SetActiveApplications <ETX>
[sick_generic_caller-1] [INFO] [1633685710.960660661] [sick_scan2]: Command: <STX>sRN DeviceIdent<ETX>
[sick_generic_caller-1] [INFO] [1633685710.960805180] [sick_scan2]: Sending  : sRN DeviceIdent
[sick_generic_caller-1] [INFO] [1633685710.971243944] [sick_scan2]: Receiving: <STX>sRA DeviceIdent \x00\x08\x4d\x52\x53\x31\x78\x78\x78\x43\x00\x08\x32\x2e\x32\x2e\x31\x2e\x30\x52<ETX>
[sick_generic_caller-1] [INFO] [1633685710.971498485] [sick_scan2]: Command: <STX>sRN SerialNumber<ETX>
[sick_generic_caller-1] [INFO] [1633685710.971596410] [sick_scan2]: Sending  : sRN SerialNumber
[sick_generic_caller-1] [INFO] [1633685710.981962403] [sick_scan2]: Receiving: <STX>sRA SerialNumber \x00\x08\x32\x31\x31\x38\x30\x30\x33\x34<ETX>
[sick_generic_caller-1] [INFO] [1633685710.982283379] [sick_scan2]: Command: <STX>sRN FirmwareVersion<ETX>
[sick_generic_caller-1] [INFO] [1633685710.982398520] [sick_scan2]: Sending  : sRN FirmwareVersion
[sick_generic_caller-1] [INFO] [1633685710.992683453] [sick_scan2]: Receiving: <STX>sRA FirmwareVersion \x00\x09\x56\x20\x32\x2e\x32\x2e\x31\x2e\x30<ETX>
[sick_generic_caller-1] [INFO] [1633685710.992891783] [sick_scan2]: Command: <STX>sRN SCdevicestate<ETX>
[sick_generic_caller-1] [INFO] [1633685710.992985580] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685711.003191181] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685711.003405527] [sick_scan2]: Laser is busy
[sick_generic_caller-1] [INFO] [1633685711.003462938] [sick_scan2]: Command: <STX>sRN ODoprh<ETX>
[sick_generic_caller-1] [INFO] [1633685711.003551199] [sick_scan2]: Sending  : sRN ODoprh
[sick_generic_caller-1] [INFO] [1633685711.013814466] [sick_scan2]: Receiving: <STX>sRA ODoprh \x00\x00\x05\xab<ETX>
[sick_generic_caller-1] [INFO] [1633685711.014071343] [sick_scan2]: Command: <STX>sRN ODpwrc<ETX>
[sick_generic_caller-1] [INFO] [1633685711.014162963] [sick_scan2]: Sending  : sRN ODpwrc
[sick_generic_caller-1] [INFO] [1633685711.024478393] [sick_scan2]: Receiving: <STX>sRA ODpwrc \x00\x00\x00\x07<ETX>
[sick_generic_caller-1] [INFO] [1633685711.024784617] [sick_scan2]: Command: <STX>sRN LocationName<ETX>
[sick_generic_caller-1] [INFO] [1633685711.025012852] [sick_scan2]: Sending  : sRN LocationName
[sick_generic_caller-1] [INFO] [1633685711.035259606] [sick_scan2]: Receiving: <STX>sRA LocationName \x00\x0b\x53\x4e\x20\x32\x31\x31\x38\x30\x30\x33\x34<ETX>
[sick_generic_caller-1] [INFO] [1633685711.035540933] [sick_scan2]: Sending  : sRN LMPoutputRange
[sick_generic_caller-1] [INFO] [1633685711.045867115] [sick_scan2]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xf8\xc0\x88\x00\x22\xb6\xb8<ETX>
[sick_generic_caller-1] [INFO] [1633685711.046092342] [sick_scan2]: Angle resolution of scanner is 0.25000 [deg]  (in 1/10000th deg: 0x9C4)
[sick_generic_caller-1] [INFO] [1633685711.046179707] [sick_scan2]: MIN_ANG:   -2.356 [rad] -135.000 [deg]
[sick_generic_caller-1] [INFO] [1633685711.046228893] [sick_scan2]: MAX_ANG:    2.356 [rad]  135.000 [deg]
[sick_generic_caller-1] [INFO] [1633685711.046375652] [sick_scan2]: Sending  : sWN LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xeb\x66\x91\x00\x14\x99\x70
[sick_generic_caller-1] [INFO] [1633685711.056837138] [sick_scan2]: Receiving: <STX>sFA\x00\x04<ETX>
[sick_generic_caller-1] [INFO] [1633685711.057101855] [sick_scan2]: Error Sopas answer mismatch Error unexpected Sopas Answer for request <STX><STX><STX><STX>!sWN LMPoutputRange ���f��p�Answer= >>>sFA\x00\x04<<<
[sick_generic_caller-1]
[sick_generic_caller-1] [INFO] [1633685711.057263271] [sick_scan2]: Sending  : sRN LMPoutputRange
[sick_generic_caller-1] [INFO] [1633685711.067568268] [sick_scan2]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xf8\xc0\x88\x00\x22\xb6\xb8<ETX>
[sick_generic_caller-1] [INFO] [1633685711.067754230] [sick_scan2]: Angle resolution of scanner is 0.25000 [deg]  (in 1/10000th deg: 0x9C4)
[sick_generic_caller-1] [INFO] [1633685711.067814425] [sick_scan2]: MIN_ANG (after command verification in device reference frame):   -0.829 [rad]  -47.500 [deg]
[sick_generic_caller-1] [INFO] [1633685711.067873276] [sick_scan2]: MAX_ANG (after command verification in device reference frame):    3.971 [rad]  227.500 [deg]
[sick_generic_caller-1] [INFO] [1633685711.067924126] [sick_scan2]: MRS 1xxx detected overwriting resolution flag (only 8 bit supported)
[sick_generic_caller-1] [INFO] [1633685711.068042820] [sick_scan2]: Sending  : sWN LMDscandatacfg \x07\x00\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01
[sick_generic_caller-1] [INFO] [1633685711.078399660] [sick_scan2]: Receiving: <STX>sWA LMDscandatacfg <ETX>
[sick_generic_caller-1] [INFO] [1633685711.078748350] [sick_scan2]: Sending  : sRN LMDscandatacfg
[sick_generic_caller-1] [INFO] [1633685711.089597534] [sick_scan2]: Receiving: <STX>sRA LMDscandatacfg \x07\x00\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01<ETX>
[sick_generic_caller-1] [INFO] [1633685711.089833610] [sick_scan2]: Sending  : sWN FREchoFilter \x00
[sick_generic_caller-1] [INFO] [1633685711.100131663] [sick_scan2]: Receiving: <STX>sWA FREchoFilter <ETX>
[sick_generic_caller-1] [INFO] [1633685711.100307960] [sick_scan2]: Command: <STX>sMN LMCstartmeas<ETX>
[sick_generic_caller-1] [INFO] [1633685711.100390012] [sick_scan2]: Sending  : sMN LMCstartmeas
[sick_generic_caller-1] [INFO] [1633685711.110636255] [sick_scan2]: Receiving: <STX>sAN LMCstartmeas \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685711.110811911] [sick_scan2]: Command: <STX>sMN Run<ETX>
[sick_generic_caller-1] [INFO] [1633685711.110886091] [sick_scan2]: Sending  : sMN Run
[sick_generic_caller-1] [INFO] [1633685711.121358201] [sick_scan2]: Receiving: <STX>sAN Run \x01<ETX>
[sick_generic_caller-1] [INFO] [1633685711.121641191] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685711.131956749] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685711.132239387] [sick_scan2]: Waiting for scanner ready state since 0 secs
[sick_generic_caller-1] [INFO] [1633685712.132591110] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685712.143175001] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685712.143507945] [sick_scan2]: Waiting for scanner ready state since 1 secs
[sick_generic_caller-1] [INFO] [1633685713.143914029] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685713.154455806] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685713.154762797] [sick_scan2]: Waiting for scanner ready state since 2 secs
[sick_generic_caller-1] [INFO] [1633685714.155236234] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685714.165780891] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685714.166102667] [sick_scan2]: Waiting for scanner ready state since 3 secs
[sick_generic_caller-1] [INFO] [1633685715.166443479] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685715.176900515] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685715.177229204] [sick_scan2]: Waiting for scanner ready state since 4 secs
[sick_generic_caller-1] [INFO] [1633685716.177930312] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685716.189489451] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685716.189688533] [sick_scan2]: Waiting for scanner ready state since 5 secs
[sick_generic_caller-1] [INFO] [1633685717.190032365] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685717.200371956] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685717.201861119] [sick_scan2]: Waiting for scanner ready state since 6 secs
[sick_generic_caller-1] [INFO] [1633685718.202681797] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685718.213218741] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685718.213751824] [sick_scan2]: Waiting for scanner ready state since 7 secs
[sick_generic_caller-1] [INFO] [1633685719.214785239] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685719.225471470] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685719.225684505] [sick_scan2]: Waiting for scanner ready state since 8 secs
[sick_generic_caller-1] [INFO] [1633685720.225932942] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685720.236362585] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685720.236645095] [sick_scan2]: Waiting for scanner ready state since 9 secs
[sick_generic_caller-1] [INFO] [1633685721.237108190] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685721.247862041] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685721.248231851] [sick_scan2]: Waiting for scanner ready state since 10 secs
[sick_generic_caller-1] [INFO] [1633685722.248761211] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685722.259311404] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685722.259506901] [sick_scan2]: Waiting for scanner ready state since 11 secs
[sick_generic_caller-1] [INFO] [1633685723.259788399] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685723.270313342] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685723.270860346] [sick_scan2]: Waiting for scanner ready state since 12 secs
[sick_generic_caller-1] [INFO] [1633685724.271493787] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685724.282082509] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685724.282386685] [sick_scan2]: Waiting for scanner ready state since 13 secs
[sick_generic_caller-1] [INFO] [1633685725.282764679] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685725.293977785] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685725.294152322] [sick_scan2]: Waiting for scanner ready state since 14 secs
[sick_generic_caller-1] [INFO] [1633685726.294415869] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685726.304756995] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685726.304938732] [sick_scan2]: Waiting for scanner ready state since 15 secs
[sick_generic_caller-1] [INFO] [1633685727.305154203] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685727.315514882] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685727.315822993] [sick_scan2]: Waiting for scanner ready state since 16 secs
[sick_generic_caller-1] [INFO] [1633685728.316078072] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685728.326470528] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685728.326676747] [sick_scan2]: Waiting for scanner ready state since 17 secs
[sick_generic_caller-1] [INFO] [1633685729.326958570] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685729.337989362] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685729.338242430] [sick_scan2]: Waiting for scanner ready state since 18 secs
[sick_generic_caller-1] [INFO] [1633685730.338725470] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685730.349344177] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685730.349903533] [sick_scan2]: Waiting for scanner ready state since 19 secs
[sick_generic_caller-1] [INFO] [1633685731.350430885] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685731.362135790] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685731.362482144] [sick_scan2]: Waiting for scanner ready state since 20 secs
[sick_generic_caller-1] [INFO] [1633685732.362904777] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685732.373355571] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685732.373687492] [sick_scan2]: Waiting for scanner ready state since 21 secs
[sick_generic_caller-1] [INFO] [1633685733.374118372] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685733.384686676] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685733.384871198] [sick_scan2]: Waiting for scanner ready state since 22 secs
[sick_generic_caller-1] [INFO] [1633685734.385152044] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685734.395474992] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685734.395675290] [sick_scan2]: Waiting for scanner ready state since 23 secs
[sick_generic_caller-1] [INFO] [1633685735.395913181] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685735.407184657] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685735.407375450] [sick_scan2]: Waiting for scanner ready state since 24 secs
[sick_generic_caller-1] [INFO] [1633685736.407667990] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685736.418675036] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685736.419071120] [sick_scan2]: Waiting for scanner ready state since 25 secs
[sick_generic_caller-1] [INFO] [1633685737.419658897] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685737.430356744] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685737.430754556] [sick_scan2]: Waiting for scanner ready state since 26 secs
[sick_generic_caller-1] [INFO] [1633685738.431135753] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685738.442292502] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685738.442477760] [sick_scan2]: Waiting for scanner ready state since 27 secs
[sick_generic_caller-1] [INFO] [1633685739.442757438] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685739.453227881] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685739.454304735] [sick_scan2]: Waiting for scanner ready state since 28 secs
[sick_generic_caller-1] [INFO] [1633685740.454947334] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685740.465340877] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685740.465779715] [sick_scan2]: Waiting for scanner ready state since 29 secs
[sick_generic_caller-1] [INFO] [1633685741.466439426] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685741.477064821] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685741.477405189] [sick_scan2]: Waiting for scanner ready state since 30 secs
[sick_generic_caller-1] [INFO] [1633685742.480147011] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685742.490673136] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685742.490891323] [sick_scan2]: Waiting for scanner ready state since 31 secs
[sick_generic_caller-1] [INFO] [1633685743.491136018] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685743.501612637] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685743.501890315] [sick_scan2]: Waiting for scanner ready state since 32 secs
[sick_generic_caller-1] [INFO] [1633685744.502168090] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685744.512597891] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685744.512927603] [sick_scan2]: Waiting for scanner ready state since 33 secs
[sick_generic_caller-1] [INFO] [1633685745.513393602] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685745.523985715] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685745.524154651] [sick_scan2]: Waiting for scanner ready state since 34 secs
[sick_generic_caller-1] [INFO] [1633685746.524414807] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685746.534823134] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685746.535136814] [sick_scan2]: Waiting for scanner ready state since 35 secs
[sick_generic_caller-1] [INFO] [1633685747.535616107] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685747.546118070] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685747.546292991] [sick_scan2]: Waiting for scanner ready state since 36 secs
[sick_generic_caller-1] [INFO] [1633685748.546672270] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685748.557529131] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685748.558063302] [sick_scan2]: Waiting for scanner ready state since 37 secs
[sick_generic_caller-1] [INFO] [1633685749.558648758] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685749.569335083] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685749.569790337] [sick_scan2]: Waiting for scanner ready state since 38 secs
[sick_generic_caller-1] [INFO] [1633685750.570251522] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685750.580774510] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685750.580987449] [sick_scan2]: Waiting for scanner ready state since 39 secs
[sick_generic_caller-1] [INFO] [1633685751.581393773] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685751.592860392] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685751.593045201] [sick_scan2]: Waiting for scanner ready state since 40 secs
[sick_generic_caller-1] [INFO] [1633685752.593285332] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685752.604229429] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685752.604423391] [sick_scan2]: Waiting for scanner ready state since 41 secs
[sick_generic_caller-1] [INFO] [1633685753.604883299] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685753.616600651] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685753.617271180] [sick_scan2]: Waiting for scanner ready state since 42 secs
[sick_generic_caller-1] [INFO] [1633685754.617803147] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685754.628348248] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685754.628595589] [sick_scan2]: Waiting for scanner ready state since 43 secs
[sick_generic_caller-1] [INFO] [1633685755.628889742] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685755.639394105] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685755.639752139] [sick_scan2]: Waiting for scanner ready state since 44 secs
[sick_generic_caller-1] [INFO] [1633685756.639993321] [sick_scan2]: TIMEOUT WHILE STARTING SCANNER
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[sick_generic_caller-1] Deviceinfo MRS1xxxC V2.2.1.0R found and supported by this driver.Device ??? V-1.-1 found and maybe unsupported by this driver.Full SOPAS answer: Command or Error message not definedFailed to init scanner Error Code: 1
[sick_generic_caller-1] Waiting for timeout...
[sick_generic_caller-1] If the communication mode set in the scanner memory is different from that used by the driver, the scanner's communication mode is changed.
[sick_generic_caller-1] This requires a restart of the TCP-IP connection, which can extend the start time by up to 30 seconds. There are two ways to prevent this:
[sick_generic_caller-1] 1. [Recommended] Set the communication mode with the SOPAS ET software to binary and save this setting in the scanner's EEPROM.
[sick_generic_caller-1] 2. Use the parameter "use_binary_protocol" to overwrite the default settings of the driver.
[sick_generic_caller-1] Receive signum: 2
[ERROR] [sick_generic_caller-1]: process[sick_generic_caller-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [sick_generic_caller-1]: sending signal 'SIGTERM' to process[sick_generic_caller-1]
[ERROR] [sick_generic_caller-1]: process has died [pid 7315, exit code -15, cmd '/home/xxx/sick_scan_ws/install/sick_scan2/lib/sick_scan2/sick_generic_caller --ros-args -r __node:=sick_scan2 --params-file /home/xxx/sick_scan_ws/install/sick_scan2/share/sick_scan2/config/sick_mrs_1xxx.yaml'].
root@xxx-proto:~# ros2 launch sick_scan2 sick_mrs_1xxx.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2021-10-08-09-36-06-720432-xxx-proto-7542
[INFO] [launch]: Default logging verbosity is set to INFO
/home/xxx/sick_scan_ws/install/sick_scan2/share/sick_scan2/launch/sick_mrs_1xxx.launch.py:13: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  node=Node(
[INFO] [sick_generic_caller-1]: process started with pid [7545]
[sick_generic_caller-1] [INFO] [1633685766.858293641] [sick_scan2]: sick_generic_caller V. 001.009.000
[sick_generic_caller-1] [INFO] [1633685766.858507348] [sick_scan2]: Program arguments: /home/xxx/sick_scan_ws/install/sick_scan2/lib/sick_scan2/sick_generic_caller
[sick_generic_caller-1] [INFO] [1633685766.858552214] [sick_scan2]: Program arguments: --ros-args
[sick_generic_caller-1] [INFO] [1633685766.858588824] [sick_scan2]: Program arguments: -r
[sick_generic_caller-1] [INFO] [1633685766.858621210] [sick_scan2]: Program arguments: __node:=sick_scan2
[sick_generic_caller-1] [INFO] [1633685766.858652763] [sick_scan2]: Program arguments: --params-file
[sick_generic_caller-1] [INFO] [1633685766.858683165] [sick_scan2]: Program arguments: /home/xxx/sick_scan_ws/install/sick_scan2/share/sick_scan2/config/sick_mrs_1xxx.yaml
[sick_generic_caller-1] [INFO] [1633685766.858713278] [sick_scan2]: sick_generic_caller: scanner_name: sick_mrs_1xxx, hostname: 192.168.11.33, port: 2112
[sick_generic_caller-1] [INFO] [1633685766.858823236] [sick_scan2]: Start initialising scanner ...
[sick_generic_caller-1] [INFO] [1633685766.858861478] [sick_scan2]: hostname: 192.168.11.33
[sick_generic_caller-1] [INFO] [1633685766.858893479] [sick_scan2]: Port    : 2112
[sick_generic_caller-1] [INFO] [1633685766.862441335] [sick_scan2]: Parameter setting for <active_echo: 0>
[sick_generic_caller-1] [INFO] [1633685766.863452362] [sick_scan2]: Command: <STX>sMN SetAccessMode 3 F4724744<ETX>
[sick_generic_caller-1] [INFO] [1633685766.863605425] [sick_scan2]: Sending  : sMN SetAccessMode \x03\xf4\x72\x47\x44
[sick_generic_caller-1] [INFO] [1633685766.884924052] [sick_scan2]: Receiving: <STX>sAN SetAccessMode \x01<ETX>
[sick_generic_caller-1] [INFO] [1633685766.886974586] [sick_scan2]: Command: <STX>sWN EIHstCola 1<ETX>
[sick_generic_caller-1] [INFO] [1633685766.888378144] [sick_scan2]: Sending  : sWN EIHstCola \x01
[sick_generic_caller-1] [INFO] [1633685766.900607840] [sick_scan2]: Receiving: <STX>sWA EIHstCola <ETX>
[sick_generic_caller-1] [INFO] [1633685766.903126813] [sick_scan2]: Command: <STX>sMN LMCstopmeas<ETX>
[sick_generic_caller-1] [INFO] [1633685766.908256060] [sick_scan2]: Sending  : sMN LMCstopmeas
[sick_generic_caller-1] [INFO] [1633685766.920099144] [sick_scan2]: Receiving: <STX>sAN LMCstopmeas \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685766.920271185] [sick_scan2]: Command: <STX>sWN SetActiveApplications 1 FEVL 0<ETX>
[sick_generic_caller-1] [INFO] [1633685766.920384758] [sick_scan2]: Sending  : sWN SetActiveApplications \x00\x01\x46\x45\x56\x4c\x00
[sick_generic_caller-1] [INFO] [1633685766.931879185] [sick_scan2]: Receiving: <STX>sWA SetActiveApplications <ETX>
[sick_generic_caller-1] [INFO] [1633685766.932059322] [sick_scan2]: Command: <STX>sWN SetActiveApplications 1 RANG 1<ETX>
[sick_generic_caller-1] [INFO] [1633685766.932170592] [sick_scan2]: Sending  : sWN SetActiveApplications \x00\x01\x52\x41\x4e\x47\x01
[sick_generic_caller-1] [INFO] [1633685766.942423997] [sick_scan2]: Receiving: <STX>sWA SetActiveApplications <ETX>
[sick_generic_caller-1] [INFO] [1633685766.942591590] [sick_scan2]: Command: <STX>sRN DeviceIdent<ETX>
[sick_generic_caller-1] [INFO] [1633685766.942872244] [sick_scan2]: Sending  : sRN DeviceIdent
[sick_generic_caller-1] [INFO] [1633685766.953186996] [sick_scan2]: Receiving: <STX>sRA DeviceIdent \x00\x08\x4d\x52\x53\x31\x78\x78\x78\x43\x00\x08\x32\x2e\x32\x2e\x31\x2e\x30\x52<ETX>
[sick_generic_caller-1] [INFO] [1633685766.953541094] [sick_scan2]: Command: <STX>sRN SerialNumber<ETX>
[sick_generic_caller-1] [INFO] [1633685766.953845717] [sick_scan2]: Sending  : sRN SerialNumber
[sick_generic_caller-1] [INFO] [1633685766.964183414] [sick_scan2]: Receiving: <STX>sRA SerialNumber \x00\x08\x32\x31\x31\x38\x30\x30\x33\x34<ETX>
[sick_generic_caller-1] [INFO] [1633685766.964462884] [sick_scan2]: Command: <STX>sRN FirmwareVersion<ETX>
[sick_generic_caller-1] [INFO] [1633685766.964602539] [sick_scan2]: Sending  : sRN FirmwareVersion
[sick_generic_caller-1] [INFO] [1633685766.974886890] [sick_scan2]: Receiving: <STX>sRA FirmwareVersion \x00\x09\x56\x20\x32\x2e\x32\x2e\x31\x2e\x30<ETX>
[sick_generic_caller-1] [INFO] [1633685766.975094068] [sick_scan2]: Command: <STX>sRN SCdevicestate<ETX>
[sick_generic_caller-1] [INFO] [1633685766.975258685] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685766.985699875] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685766.985898093] [sick_scan2]: Laser is busy
[sick_generic_caller-1] [INFO] [1633685766.985945680] [sick_scan2]: Command: <STX>sRN ODoprh<ETX>
[sick_generic_caller-1] [INFO] [1633685766.986022355] [sick_scan2]: Sending  : sRN ODoprh
[sick_generic_caller-1] [INFO] [1633685766.996284049] [sick_scan2]: Receiving: <STX>sRA ODoprh \x00\x00\x05\xab<ETX>
[sick_generic_caller-1] [INFO] [1633685766.996487611] [sick_scan2]: Command: <STX>sRN ODpwrc<ETX>
[sick_generic_caller-1] [INFO] [1633685766.996581952] [sick_scan2]: Sending  : sRN ODpwrc
[sick_generic_caller-1] [INFO] [1633685767.006865567] [sick_scan2]: Receiving: <STX>sRA ODpwrc \x00\x00\x00\x07<ETX>
[sick_generic_caller-1] [INFO] [1633685767.007049928] [sick_scan2]: Command: <STX>sRN LocationName<ETX>
[sick_generic_caller-1] [INFO] [1633685767.007244786] [sick_scan2]: Sending  : sRN LocationName
[sick_generic_caller-1] [INFO] [1633685767.017561490] [sick_scan2]: Receiving: <STX>sRA LocationName \x00\x0b\x53\x4e\x20\x32\x31\x31\x38\x30\x30\x33\x34<ETX>
[sick_generic_caller-1] [INFO] [1633685767.017801758] [sick_scan2]: Sending  : sRN LMPoutputRange
[sick_generic_caller-1] [INFO] [1633685767.029429632] [sick_scan2]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xf8\xc0\x88\x00\x22\xb6\xb8<ETX>
[sick_generic_caller-1] [INFO] [1633685767.029760560] [sick_scan2]: Angle resolution of scanner is 0.25000 [deg]  (in 1/10000th deg: 0x9C4)
[sick_generic_caller-1] [INFO] [1633685767.029818579] [sick_scan2]: MIN_ANG:   -2.356 [rad] -135.000 [deg]
[sick_generic_caller-1] [INFO] [1633685767.029915864] [sick_scan2]: MAX_ANG:    2.356 [rad]  135.000 [deg]
[sick_generic_caller-1] [INFO] [1633685767.031374849] [sick_scan2]: Sending  : sWN LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xeb\x66\x91\x00\x14\x99\x70
[sick_generic_caller-1] [INFO] [1633685767.041631294] [sick_scan2]: Receiving: <STX>sFA\x00\x04<ETX>
[sick_generic_caller-1] [INFO] [1633685767.041802087] [sick_scan2]: Error Sopas answer mismatch Error unexpected Sopas Answer for request <STX><STX><STX><STX>!sWN LMPoutputRange ���f��p�Answer= >>>sFA\x00\x04<<<
[sick_generic_caller-1]
[sick_generic_caller-1] [INFO] [1633685767.041930221] [sick_scan2]: Sending  : sRN LMPoutputRange
[sick_generic_caller-1] [INFO] [1633685767.052184874] [sick_scan2]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x09\xc4\xff\xf8\xc0\x88\x00\x22\xb6\xb8<ETX>
[sick_generic_caller-1] [INFO] [1633685767.052365651] [sick_scan2]: Angle resolution of scanner is 0.25000 [deg]  (in 1/10000th deg: 0x9C4)
[sick_generic_caller-1] [INFO] [1633685767.052423926] [sick_scan2]: MIN_ANG (after command verification in device reference frame):   -0.829 [rad]  -47.500 [deg]
[sick_generic_caller-1] [INFO] [1633685767.052466840] [sick_scan2]: MAX_ANG (after command verification in device reference frame):    3.971 [rad]  227.500 [deg]
[sick_generic_caller-1] [INFO] [1633685767.052509978] [sick_scan2]: MRS 1xxx detected overwriting resolution flag (only 8 bit supported)
[sick_generic_caller-1] [INFO] [1633685767.052683235] [sick_scan2]: Sending  : sWN LMDscandatacfg \x07\x00\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01
[sick_generic_caller-1] [INFO] [1633685767.062971298] [sick_scan2]: Receiving: <STX>sWA LMDscandatacfg <ETX>
[sick_generic_caller-1] [INFO] [1633685767.063345205] [sick_scan2]: Sending  : sRN LMDscandatacfg
[sick_generic_caller-1] [INFO] [1633685767.073680246] [sick_scan2]: Receiving: <STX>sRA LMDscandatacfg \x07\x00\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01<ETX>
[sick_generic_caller-1] [INFO] [1633685767.074011655] [sick_scan2]: Sending  : sWN FREchoFilter \x00
[sick_generic_caller-1] [INFO] [1633685767.084311878] [sick_scan2]: Receiving: <STX>sWA FREchoFilter <ETX>
[sick_generic_caller-1] [INFO] [1633685767.084525777] [sick_scan2]: Command: <STX>sMN LMCstartmeas<ETX>
[sick_generic_caller-1] [INFO] [1633685767.084616245] [sick_scan2]: Sending  : sMN LMCstartmeas
[sick_generic_caller-1] [INFO] [1633685767.105015563] [sick_scan2]: Receiving: <STX>sAN LMCstartmeas \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685767.105234454] [sick_scan2]: Command: <STX>sMN Run<ETX>
[sick_generic_caller-1] [INFO] [1633685767.105749615] [sick_scan2]: Sending  : sMN Run
[sick_generic_caller-1] [INFO] [1633685767.116218647] [sick_scan2]: Receiving: <STX>sAN Run \x01<ETX>
[sick_generic_caller-1] [INFO] [1633685767.116554472] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685767.126794245] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685767.127012847] [sick_scan2]: Waiting for scanner ready state since 0 secs
[sick_generic_caller-1] [INFO] [1633685768.127290952] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685768.138500789] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685768.138894600] [sick_scan2]: Waiting for scanner ready state since 1 secs
[sick_generic_caller-1] [INFO] [1633685769.139471238] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685769.150171866] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685769.150634385] [sick_scan2]: Waiting for scanner ready state since 2 secs
[sick_generic_caller-1] [INFO] [1633685770.151273225] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685770.162822662] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685770.163199545] [sick_scan2]: Waiting for scanner ready state since 3 secs
[sick_generic_caller-1] [INFO] [1633685771.163987952] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685771.174782184] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685771.175154554] [sick_scan2]: Waiting for scanner ready state since 4 secs
[sick_generic_caller-1] [INFO] [1633685772.175819970] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685772.186492468] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685772.187212504] [sick_scan2]: Waiting for scanner ready state since 5 secs
[sick_generic_caller-1] [INFO] [1633685773.187479779] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685773.197834980] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685773.198033518] [sick_scan2]: Waiting for scanner ready state since 6 secs
[sick_generic_caller-1] [INFO] [1633685774.198292688] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685774.208630865] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685774.209012516] [sick_scan2]: Waiting for scanner ready state since 7 secs
[sick_generic_caller-1] [INFO] [1633685775.209300478] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685775.220226684] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685775.220490729] [sick_scan2]: Waiting for scanner ready state since 8 secs
[sick_generic_caller-1] [INFO] [1633685776.220704599] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685776.231158974] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685776.231603156] [sick_scan2]: Waiting for scanner ready state since 9 secs
[sick_generic_caller-1] [INFO] [1633685777.231960096] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685777.243131530] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685777.243648067] [sick_scan2]: Waiting for scanner ready state since 10 secs
[sick_generic_caller-1] [INFO] [1633685778.244220177] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685778.254875681] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685778.255143407] [sick_scan2]: Waiting for scanner ready state since 11 secs
[sick_generic_caller-1] [INFO] [1633685779.255539339] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685779.266134424] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685779.266399397] [sick_scan2]: Waiting for scanner ready state since 12 secs
[sick_generic_caller-1] [INFO] [1633685780.266844667] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685780.277773753] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685780.278211535] [sick_scan2]: Waiting for scanner ready state since 13 secs
[sick_generic_caller-1] [INFO] [1633685781.278730720] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685781.289292491] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685781.289555640] [sick_scan2]: Waiting for scanner ready state since 14 secs
[sick_generic_caller-1] [INFO] [1633685782.289933689] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685782.300421025] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[sick_generic_caller-1] [INFO] [1633685782.300868279] [sick_scan2]: Waiting for scanner ready state since 15 secs
[sick_generic_caller-1] [INFO] [1633685783.301194061] [sick_scan2]: Sending  : sRN SCdevicestate
[sick_generic_caller-1] [INFO] [1633685783.311921344] [sick_scan2]: Receiving: <STX>sRA SCdevicestate \x01<ETX>
[sick_generic_caller-1] [INFO] [1633685783.312109705] [sick_scan2]: Scanner ready for measurement after 16 [sec]
[sick_generic_caller-1] [INFO] [1633685783.312179981] [sick_scan2]: Command: <STX>sEN LMDscandata 1<ETX>
[sick_generic_caller-1] [INFO] [1633685783.312270705] [sick_scan2]: Sending  : sEN LMDscandata \x01
[sick_generic_caller-1] [INFO] [1633685783.322704022] [sick_scan2]: Receiving: <STX>sEA LMDscandata \x01<ETX>
[sick_generic_caller-1] [INFO] [1633685783.322941634] [sick_scan2]: Starting scan data ....
[sick_generic_caller-1]
[sick_generic_caller-1] [INFO] [1633685783.323494173] [sick_scan2]: 1 / 6 Packet dropped Software PLL not yet locked.
[sick_generic_caller-1] [INFO] [1633685783.341364979] [sick_scan2]: 2 / 6 Packet dropped Software PLL not yet locked.
[sick_generic_caller-1] [INFO] [1633685783.361506456] [sick_scan2]: 3 / 6 Packet dropped Software PLL not yet locked.
[sick_generic_caller-1] [INFO] [1633685783.383262030] [sick_scan2]: 4 / 6 Packet dropped Software PLL not yet locked.
[sick_generic_caller-1] [INFO] [1633685783.401293195] [sick_scan2]: 5 / 6 Packet dropped Software PLL not yet locked.
[sick_generic_caller-1] [INFO] [1633685783.421738080] [sick_scan2]: 6 / 6 Packet dropped Software PLL not yet locked.
[sick_generic_caller-1] [INFO] [1633685783.421895912] [sick_scan2]: Software PLL is expected to be ready now!

I worked on a workaround solution to loop 5 times to start a communication, but it is not the best solution:

int SickScanCommon::init()
	{
	int result = init_device();
	if (result != 0)
	{
	  printf("Failed to init device: %d", result);
	  return result;
	}
	int maxWaitForDeviceStateReady = 20; // 20 seconds
	int maxDeviceStateReadyAttempt = 5; // 5 attempts      
	for (int i = 1; i < maxDeviceStateReadyAttempt; i++)
	{
		printf("%d th attempt to start the scanner communication.  \n \n", i);
		result = init_scanner();
		int elapsedTime = i*maxWaitForDeviceStateReady;
		printf("Time elapsed for the scanner initalisation: %d \n \n", elapsedTime);
		if (result == 0)
		{
			break;
		}
	}    
	if (result != 0)
	{
	  printf("Failed to init scanner Error Code: %d\nWaiting for timeout...\n"
			 "If the communication mode set in the scanner memory is different from that used by the driver, the scanner's communication mode is changed.\n"
			 "This requires a restart of the TCP-IP connection, which can extend the start time by up to 30 seconds. There are two ways to prevent this:\n"
			 "1. [Recommended] Set the communication mode with the SOPAS ET software to binary and save this setting in the scanner's EEPROM.\n"
			 "2. Use the parameter \"use_binary_protocol\" to overwrite the default settings of the driver.\n", result);
	}
	return result;
}

I think there is a problem around the LMCstartmeas procedure.
@michael1309
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As you can certainly hear when the lidar starts up, the speed of the MRS1104 is set to the target speed. Possibly your version of the MRS1104 takes a very long time to reach the set speed at the first. Therefore, this does not seem to be a fundamental problem of the lidar driver. It may make sense to contact the SICK service department in this regard. In my experience, the MRS1104 should actually start up after 45 seconds at the latest.

You can also patch the max. default waiting time to another value (e.g. 120 secs.) by replacing the following entry:

image

@MonteiroMarcos
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MonteiroMarcos commented Oct 12, 2021 •
edited
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Sorry @michael1309, I did not explain before that the first thing I tried to change it was this parameter I used up to 3 minutes and it didn't work. Thats why I came across the solution in the code that I put at the end of my comment. I contacted the SICK department in France already and he is aware of all the procedures we have done to get the MRS1000 connected with ROS 2. I am still waitig for a better solution.

michael1309 added a commit that referenced this issue Oct 14, 2021
@michael1309
changes angle config to prevent "sFA 4" Error in start up related to #28
6ea289a
@michael1309
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Hello @MonteiroMarcos ,

we have just tried to reproduce your problem with a MRS1104.
We have found an mistake in the configuration file (config/sick_mrs_1xxx.yaml) the min and max angles must be specified in the scanner coordinate system The correct angles are therefore:

sick_scan2/config/sick_mrs_1xxx.yaml

Lines 8 to 9 in 6ea289a

min_ang : -0.829031395 #in lidar cordinate frame see ../doc/3d_coordinate_system_comp.png
max_ang : 3.970624 #in lidar cordinate frame see ../doc/3d_coordinate_system_comp.png

In future versions of this software we will change this to the ros coordinate system.

This is not relevant for your start problem.

We had reproducible problems when we started the driver too fast after power on of the scanner.
To start the scanner reproducibly after power on we had to follow the sequence below:

0 sec-> power on
0.01 sec --> Lidar LED is red
15 sec --> lidar motor starts to rotate and accelerates step by step
45 sec --> lidar LED turns green

46 sec --> ros driver is started

@MonteiroMarcos
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Hello @michael1309,
I already tested the proposed solution and it is working well. Thanks for the support and also for providing us a working solution. I will try to contact the French support for further information.

@michael1309
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Thanks for your friendly feedback.

@ghanim-mukhtar ghanim-mukhtar mentioned this issue Mar 22, 2022
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@Loctangba
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Hello @MonteiroMarcos ,
[sick_generic_caller-1] Check the network connection.
[sick_generic_caller-1] Check if the system time has been changed in a leap.
[sick_generic_caller-1] If the problems can persist, disable the software PLL with the option sw_pll_only_publish=False !

How to do fix this.

Thanks you

@rostest
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rostest commented Jun 27, 2022

@Loctangba We recommend to use https://github.com/SICKAG/sick_scan_xd for all lidars supported (see https://github.com/SICKAG/sick_scan_xd#supported-hardware). Please don't hesitate to report issues there in case of problems.

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@michael1309 @rostest @MonteiroMarcos @Loctangba