SICK TIM320-1131000 - V2.51 --> received less fields than expected fields (actual: 303, expected: 580), ignoring scan"

[qwertz747]

Hello, I ran into a challenge with the package based on the firmware version 2.51, which is deployed on my lidar (TIM320-113).

• On Sopas, connected via USB, the lidar works and the individual data points are being displayed.
  So it seems that the information regarding the ranges is being transmitted via USB.
  Attached an export from the data received by Sopas.
  daten.txt

Unfortunately when I try to use the Ros package I always get the Errors:

• [ERROR] [1581369680.044696172]: This scanner model/firmware combination does not support ranging output!
• [ERROR] [1581369680.044815755]: Supported scanners: TiM5xx: all firmware versions; TiM3xx: firmware versions < V2.50.
• [ERROR] [1581369680.044882317]: This is a TiM32x, firmware version 2.51
• [FATAL] [1581369680.044942473]: Failed to init scanner: 2

Is there a way to get the TIM320 to work?
Is there a way to reset the firmware version on my lidar to pre V2.5?

[qwertz747]

Hi,
I got the lidar (TIM320-113) partially to work, but ran in the following error "received less fields than expected fields (actual: 303, expected: 580), ignoring scan".

Attached the output from running " roslaunch sick_tim sick_tim310s01.launch" and the received diagnostics from "rostopic echo /diagnostics".

I am operating the lidar with 18V, could this be the issue of the less received fields? - it is rated from 9V-28V

Has anyone seen this error before and has a tip how to solve it?

[ INFO] [1588181431.548263846]: SICK AG - TIM3XX - [1]
[ INFO] [1588181431.548773791]: ----------------------------------------
[ INFO] [1588181431.548788322]: Device Class: 0x0
[ INFO] [1588181431.548796551]: VendorID: 0x19a2
[ INFO] [1588181431.548803775]: ProductID: 0x5001
[ INFO] [1588181431.548810606]: ----------------------------------------
[ INFO] [1588181431.548823165]: Interfaces: 1
[ INFO] [1588181431.548831065]: ----------------------------------------
[ INFO] [1588181431.548838981]: Number of alternate settings: 1
[ INFO] [1588181431.548846083]: Interface number: 0
[ INFO] [1588181431.548854960]: Number of endpoints: 2
[ INFO] [1588181431.548863225]: Descriptor Type: 5
[ INFO] [1588181431.548877291]: EP Address: 129
[ INFO] [1588181431.548888457]: Descriptor Type: 5
[ INFO] [1588181431.548898322]: EP Address: 2
[ INFO] [1588181431.548911217]: ----------------------------------------
[ INFO] [1588181431.548957877]: LIBUSB - Claimed interface
[ WARN] [1588181432.086126372]: received less fields than expected fields (actual: 303, expected: 580), ignoring scan

What got it working so far was the comment #33

Files:
diagnostics.txt
lidar.txt

Thanks!

[mintar]

That's good news, getting it fully working shouldn't be too hard now! Could you set the publish_datagram parameter to true and record a rosbag of the datagram topic for me?

[qwertz747]

Hi,

thanks for the fast reply. =)
Is the rosbag-file supposed to look like that?
(edited)
2020-04-29-22-32-48.bag.txt

To record the rosbag I did the following steps:

• edit "sick_tim_common.cpp" -> set publish_datagram to true
  "pn.param("publish_datagram",publish_datagram,true);"_
• make_isolated for me "./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release"
• resource for me "source ~/ros_catkin/install_isolated/setup.bash"
• start roslaunch "sick_tim sick_tim310s01.launch"
• in separate terminal window
  _"rosbag record -a"

[mintar]

You changed the "subscribe_datagram" parameter, but you need to set the "publish_datagram" parameter. The rosbags are missing the "datagram" topic (you can check for yourself: rosbag info 2020-04-29-22-08-44.bag).

[qwertz747]

Thanks!! I have corrected it and edited the post. This is the rosbag file with publish_datagram true.
2020-04-29-22-32-48.bag.txt

[mintar]

Thanks, this looks good! I'll look into that bagfile as soon as I get to it, hopefully tomorrow.

[mintar]

I've looked into it, and the sick_tim551_2050001 node is actually able to read and process your datagrams. This is how I tested it:

roscore
rosparam set use_sim_time true
# now set the parameter `subscribe_datagram` in `sick_tim551_2050001.launch` to `true` (just for testing without a physical device!)
roslaunch sick_tim sick_tim551_2050001.launch
rosbag play --clock 2020-04-29-22-32-48.bag
rostopic echo /scan

[qwertz747]

Hey thanks a lot for the fast reply and your support! =)

I tested it the following way - and it seems to work great, although I receive a warning LIBUSB_ERROR_TIMEOUT:

-connected the lidar
-roslaunch sick_tim sick_tim551_2050001.launch
--than I get the following warning:
[ WARN] [1588348685.428370476]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
--I attached the corresponding rosbag 2020-05-01-18-02-45.bag.txt
sicktim_551_terminal.txt
-(in new terminal): rosrun rviz rviz

So it seems to work just fine.
Do I have to do something about the LIBUSB warning?
One more interesting info is the actual frequency which seems to be at (in Sopas it says 15Hz):
Actual frequency (Hz) 1.874993