TIM571-2050101 LIBUSB - Read Error: -7 or -9

[ahcorde]

Hi,

I'm trying to work with the SICK laser TIM571-2050101. But I always received two different errors:

LIBUSB - Read Error: -7 (LIBUSB_ERROR_TIMEOUT) or LIBUSB - Read Error: -9 ( LIBUSB_ERROR_PIPE )

The error is in the function libusb_bulk_transfer of libusb

[ERROR] [1444834004.223997555]: LIBUSB - Read Error: -7.
[ERROR] [1444834004.224061386]: SOPAS - Error reading variable 'DeviceIdent'.
[ERROR] [1444834005.225027697]: LIBUSB - Read Error: -7.
[ERROR] [1444834005.225102733]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [1444834006.426673049]: LIBUSB - Read Error: -7.
[ERROR] [1444834006.426734884]: SOPAS - Error reading variable 'FirmwareVersion'.
[ERROR] [1444834007.628947346]: LIBUSB - Read Error: -7.
[ERROR] [1444834007.629010369]: SOPAS - Error starting to stream 'LMDscandata'.
[FATAL] [1444834007.629112005]: Failed to init scanner: 1

@vmayoral

[vmayoral]

+1 on this, reproduced it in another machine and the driver also seems to be faulty. My log:

root@ubuntu:/home/victor# roslaunch sick_tim sick_tim551_2050001.launch 
... logging to /root/.ros/log/e9cb9882-7285-11e5-9a54-001c42d5b830/roslaunch-ubuntu-3339.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://ubuntu:55525/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.13

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

auto-starting new master
process[master]: started with pid [3357]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e9cb9882-7285-11e5-9a54-001c42d5b830
process[rosout-1]: started with pid [3370]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [3385]
process[sick_tim551_2050001-3]: started with pid [3388]
[ INFO] [1444835518.789337070]: SICK AG - TIM3XX - [1]
[ INFO] [1444835518.789410970]: ----------------------------------------
[ INFO] [1444835518.789427497]: Device Class: 0x0
[ INFO] [1444835518.789439438]: VendorID:     0x19a2
[ INFO] [1444835518.789455830]: ProductID:    0x5001
[ INFO] [1444835518.789467629]: ----------------------------------------
[ INFO] [1444835518.789484573]: Interfaces: 1
[ INFO] [1444835518.789500006]: ----------------------------------------
[ INFO] [1444835518.789520237]: Number of alternate settings: 1
[ INFO] [1444835518.789531869]: Interface number: 0
[ INFO] [1444835518.789545812]: Number of endpoints: 2
[ INFO] [1444835518.789556299]: Descriptor Type: 5
[ INFO] [1444835518.789566483]: EP Address: 129
[ INFO] [1444835518.789575860]: Descriptor Type: 5
[ INFO] [1444835518.789585086]: EP Address: 2
[ INFO] [1444835518.789600395]: ----------------------------------------
[ INFO] [1444835518.789655100]: LIBUSB - Claimed interface
[ERROR] [1444835518.790204326]: LIBUSB - Write Error: -9.
[ERROR] [1444835518.790250344]: SOPAS - Error reading variable 'DeviceIdent'.
[ERROR] [1444835518.790776025]: LIBUSB - Write Error: -9.
[ERROR] [1444835518.790888252]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [1444835518.794770511]: LIBUSB - Write Error: -9.
[ERROR] [1444835518.794875527]: SOPAS - Error reading variable 'FirmwareVersion'.
[ERROR] [1444835518.795827260]: LIBUSB - Write Error: -9.
[ERROR] [1444835518.795904881]: SOPAS - Error starting to stream 'LMDscandata'.
[FATAL] [1444835518.795955296]: Failed to init scanner: 1
[ERROR] [1444835519.796515706]: LIBUSB - Write Error: -9.

SOPAS - Error stopping streaming scan data!
LIBUSB - Released Interface.
sick_tim driver exiting.
[ INFO] [1444835519.830467519]: SICK AG - TIM3XX - [1]
[ INFO] [1444835519.830647898]: ----------------------------------------
[ INFO] [1444835519.830748353]: Device Class: 0x0
[ INFO] [1444835519.830855408]: VendorID:     0x19a2
[ INFO] [1444835519.830935633]: ProductID:    0x5001
[ INFO] [1444835519.831011663]: ----------------------------------------
[ INFO] [1444835519.831088693]: Interfaces: 1
[ INFO] [1444835519.831176302]: ----------------------------------------
[ INFO] [1444835519.831260429]: Number of alternate settings: 1
[ INFO] [1444835519.831334549]: Interface number: 0
[ INFO] [1444835519.831421935]: Number of endpoints: 2
[ INFO] [1444835519.831496590]: Descriptor Type: 5
[ INFO] [1444835519.831570400]: EP Address: 129
[ INFO] [1444835519.831643505]: Descriptor Type: 5
[ INFO] [1444835519.831720756]: EP Address: 2
[ INFO] [1444835519.831794640]: ----------------------------------------
[ INFO] [1444835519.831893101]: LIBUSB - Claimed interface
[ERROR] [1444835519.832374641]: LIBUSB - Write Error: -9.
[ERROR] [1444835519.832398431]: SOPAS - Error reading variable 'DeviceIdent'.
[ERROR] [1444835519.832974489]: LIBUSB - Write Error: -9.
[ERROR] [1444835519.833005179]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [1444835519.833556772]: LIBUSB - Write Error: -9.
[ERROR] [1444835519.833580411]: SOPAS - Error reading variable 'FirmwareVersion'.
[ERROR] [1444835519.834123459]: LIBUSB - Write Error: -9.
[ERROR] [1444835519.834152597]: SOPAS - Error starting to stream 'LMDscandata'.
[FATAL] [1444835519.834180497]: Failed to init scanner: 1
[ERROR] [1444835520.835134946]: LIBUSB - Write Error: -9.

SOPAS - Error stopping streaming scan data!
LIBUSB - Released Interface.
sick_tim driver exiting.
[ INFO] [1444835520.866739755]: SICK AG - TIM3XX - [1]
[ INFO] [1444835520.866826887]: ----------------------------------------
[ INFO] [1444835520.866872590]: Device Class: 0x0
[ INFO] [1444835520.866889660]: VendorID:     0x19a2
[ INFO] [1444835520.866895652]: ProductID:    0x5001
[ INFO] [1444835520.866901772]: ----------------------------------------
[ INFO] [1444835520.866910442]: Interfaces: 1
[ INFO] [1444835520.866916871]: ----------------------------------------
[ INFO] [1444835520.866926900]: Number of alternate settings: 1
[ INFO] [1444835520.866932983]: Interface number: 0
[ INFO] [1444835520.866938840]: Number of endpoints: 2
[ INFO] [1444835520.866944506]: Descriptor Type: 5
[ INFO] [1444835520.866950005]: EP Address: 129
[ INFO] [1444835520.866955659]: Descriptor Type: 5
[ INFO] [1444835520.866961440]: EP Address: 2
[ INFO] [1444835520.866968036]: ----------------------------------------
[ INFO] [1444835520.866998825]: LIBUSB - Claimed interface
[ERROR] [1444835520.867448759]: LIBUSB - Write Error: -9.
[ERROR] [1444835520.867491108]: SOPAS - Error reading variable 'DeviceIdent'.
[ERROR] [1444835520.867909753]: LIBUSB - Write Error: -9.
[ERROR] [1444835520.867955580]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [1444835520.868353824]: LIBUSB - Write Error: -9.
[ERROR] [1444835520.868404826]: SOPAS - Error reading variable 'FirmwareVersion'.
[ERROR] [1444835520.868740167]: LIBUSB - Write Error: -9.
[ERROR] [1444835520.868815970]: SOPAS - Error starting to stream 'LMDscandata'.
[FATAL] [1444835520.868841265]: Failed to init scanner: 1
[ERROR] [1444835521.869377130]: LIBUSB - Write Error: -9.

[jspricke]

Do you have access to the device file (/dev/bus/usb/001/004)? Make sure you followed the instructions given here: https://github.com/uos/sick_tim/tree/indigo/udev.

[vmayoral]

@jspricke redid it as root user, i've updated the log. That's not the problem.

[jspricke]

Ah, you confused me with updating the complete comment, I usually prefer to do a new one with more information and use the edit button only to fix spelling.
Also I see that you are using the wrong launch file, there is one for the sick_tim571_2050101.launch already, but I don't think that's the problem we see. Sick gave as a scanner as well at ROSCon, but we haven't tried it. Did you try it using TCP/IP?

@mintar do you have time tomorrow to test it or give it to me?

[ahcorde]

No, we didn't try using TCP/IP only with the USB.

@vmayoral launched with the wrong launch file. But I have compiled the github repository and I have tried with the correct launch file and the result is the same.

[jspricke]

Ah, there was a problem with the device name containing spaces (or no spaces) at some point. Did you change it?

[vmayoral]

@jspricke how can we change that?

[jspricke]

I think with the Windows software coming with it

[mintar]

It's not the device name, since the problem happens before it even started to stream device data. The device name can only be a problem during parsing of the laser data.

Let's look into this later today with our scanner.

[mintar]

We just tested it with our scanner, and it works with the sick_tim571_2050101.launch file out of the box, both with USB and TCP. Since you tried it on different machines, it seems to be a hardware problem with your scanner. The log shows that your machine could connect to the scanner, but then something went wrong. Can you re-check that you got the power supply, USB cable etc. right?

Sorry for not being more helpful.

[jspricke]

An other option would be to try TCP/IP.

[SICK-NorthAmerica]

We haven't seen this issue appear with other TiM571 units but, if it's determined to be a hardware problem, let us know and we'll swap the scanners and try to resolve the issue in-house.

@SICK-Global

[mintar]

Wow, that's a generous offer by SICK, given that they even donated some of those scanners to the ROS community!

Before you take them up on it, I'd suggest you try to really make sure it's not a flaky power supply or broken USB cable. One other thing you could try is whether you can get distance measurements from the SICK SOPAS Windows software; that could rule out that it's really not our driver that's at fault.

[ahcorde]

First at all, thank you for your support.

Today I have checked the SICK SOPAS Windows software. I'm not able to connect with device. As you can see in the following picture. Windows recognizes the device (Device Manager) but the program can't connect with the device because it isn't able to find it.

I haven't tried to connect the Laser with the Ethernet, because we need to connect the laser via USB.

It's the first time that I use the SICK SOPAS software if anyone have any kind of suggestions it's more than welcome.

[vmayoral]

@SICK-NorthAmerica, @SICK-Global, @mintar thanks for the kind support.

We're aiming here to provide official support for SICK sensors in our artificial brains (http://erlerobotics.com/docs/Artificial_Brains/Erle-Brain2/index.html) and robots. We've tried different cables and Operating Systems and so far no luck.

An other option would be to try TCP/IP.

I'm willing to give this a try. We are using USB for now, Where can we get the appropriate Ethernet cable to test this out?

[mintar]

The appropriate Ethernet cable should be this one. You can get it either from SICK or probably from the vendor where you got your power adapter cable, I guess.

[ahcorde]

We have just received and test the Ethernet cable and the laser is working fine.

We have documented how it works in Erle-Brain 2 with ROS [1].

If someone have any ideas why the USB interfaces it isn't working it's most than welcome ;)

[1] http://erlerobotics.com/Docs/Artificial_Brains/Additional_Devices/SICK_Laser_Scan

Thank you everyone for your help

[mintar]

Great to hear that it's now working for you!

[garyservin]

I'm having the same issue with my TiM571 using USB, unfortunately I don't have access to an Ethernet cable so I can't test it. It was working fine until today.

dmesg ouput

[ 1305.128734] usb 2-3: new high-speed USB device number 18 using xhci_hcd
[ 1305.264060] usb 2-3: New USB device found, idVendor=19a2, idProduct=5001
[ 1305.264072] usb 2-3: New USB device strings: Mfr=0, Product=2, SerialNumber=3
[ 1305.264073] usb 2-3: Product: TIM3xx
[ 1305.264074] usb 2-3: SerialNumber: 15340291

lsusb -v

Bus 002 Device 018: ID 19a2:5001
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
idVendor 0x19a2
idProduct 0x5001
bcdDevice 1.09
iManufacturer 0
iProduct 2 TIM3xx
iSerial 3 15340291
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 32
bNumInterfaces 1
bConfigurationValue 1
iConfiguration 1 Default Configuration
bmAttributes 0xc0
Self Powered
MaxPower 2mA
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 2
bInterfaceClass 255 Vendor Specific Class
bInterfaceSubClass 0
bInterfaceProtocol 0
iInterface 4 SICK SOPAS
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x81 EP 1 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x02 EP 2 OUT
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 1
Device Qualifier (for other device speed):
bLength 10
bDescriptorType 6
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
bNumConfigurations 1
Device Status: 0x0001
Self Powered

[garyservin]

Update: got it to work on another ubuntu machine I have, which hasn't been updated in a while (at least one month).

So this may be an issue with some package that has been updated. I've checked libsusb but both machines have the same version. Which other packages should I take a look at?

[jspricke]

@garyservin: Which version(s) of Ubuntu did you try? Did you check the access rights of the device file?

[garyservin]

Both machines have Lubuntu 14.04.

I'm using the latest driver pulled from github and built yesterday with the same udev rules installed.

I have permissions for the plugdev group for both users in both machines. I have checked the permissions for the device file and they are the same on both machines.

I've also tried running the driver as root and it still didn't work.

[garyservin]

New update: It works!

I've tried some more stuff, including downgrading the kernel, but I couldn't get the driver to work.

What I did was use the ROS' shadow repo, which I was already using on the other machine. I'm not sure which exact package fixed the issue though.

Update 2:
Talked too soon, it worked once after updating and rebuilding the package and now it doesn't work anymore, it still work on the other pc.

Update 3:
It works again now. Sometimes, when you run the node (and it works) and you Ctrl-C the node and start it again I see the same error, but I just need to unplug and plug the USB again and it works.

@ahcorde can you try using the ROS' shadow repo and try again?

Sorry for all the noise.

[libazhahei]

I have the same situation with you, I've found the requests seems to diff from the terminal on SOPAS.
The command of read DeviceIdent should be "sRI 0" rather than the original version "sRI0" which is at the sick_tim_common.cpp.

Please ensure the command works on SOPAS's terminal first. My device is TIM310 btw.