Errors using sicktoolbox_wrapper on Powerbot
I'm having an issue using sicktoolbox_wrapper on the MobileRobots Powerbot. I've looked through the related threads but my issue appears to be a bit different. For reference, these are the threads I'm referring to:
1) sicklms failed to initialize!
2) SICK laser driver fails to start after initialization and handshake?
3) Unable to get data from sick laser on Pioneer
The third seems most promising since it appears to be an issue related to MobileRobots and a solution for the Pioneer was found by adding a delay into the source code. I also read the information in the link Abhijit provided regarding the laser integration board.
Since I'm working with the Powerbot, there is in fact a switch on the side of the robot that must be turned on prior to using the laser. I did so and gave it quite a bit of time to warm up, with all the lights green etc. I have experienced the same issue others have addressed in the threads above, however, I'm not always observing the same output. The weird thing is I'm not doing anything different each time. For instance, one attempt will result in an output similar to thread 1) and 3):
usr@powerbot:~$ rosrun sicktoolbox_wrapper sicklms*** Attempting to initialize the Sick LMS... Attempting to open device @ /dev/ttyUSB0
SickLMS::_setTermSpeed: ioctl() failed while trying to get serial port info! NOTE: This is normal when connected via USB! SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info! NOTE: This is normal when connected via USB! Device opened! Attempting to start buffer monitor... Buffer monitor started! Attempting to set requested baud rate... A Timeout Occurred! 2 tries remaining A Timeout Occurred! 1 tries remaining A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success! Failed to set requested baud rate... Attempting to detect LMS baud rate... Checking 19200bps... SickLMS::_setTermSpeed: ioctl() failed while trying to get serial port info! NOTE: This is normal when connected via USB! SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info! NOTE: This is normal when connected via USB! A Timeout Occurred! 2 tries remaining A Timeout Occurred! 1 tries remaining A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success! Checking 38400bps... SickLMS::_setTermSpeed: ioctl() fThe other platform is simply a laptop running Natty and ROS Diamondback. I used an identical laser to that connected to the PowerBot. I attempted this with two different serial-to-USB converters: FTDI FT232R and Prolific PL2303 both with and without a null modem cable. ailed while trying to get serial port info! NOTE: This is normal when connected via USB! SickLMS::_setTerminalBaud: ioctl() failed while trying to set serial port info! NOTE: This is normal when connected via USB! A Timeout Occurred! 2 tries remaining A Timeout Occurred! 1 tries remaining A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success! Checking 500Kbps... ERROR: I/O exception - SickLMS::_setTerminalBaud: ioctl() failed! ERROR ...
