I can't get data from laserscanner Sick s300
I have a mecanum-robot with 2 laserscanner (Sick s300 professional) and they are both connected with the robot via serial port (/dev/ttyS0 and /dev/ttyS2). I have installed the cob_sick_s300 package and i create a launch file (laser_front.launch) in cob_bringup pakage and it's look like this:
<?xml version="1.0"?>
<launch>
<arg name="robot" default="cob3-6"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="name" default="front"/>
<!-- start laser driver -->
<node name="laser_$(arg name)" pkg="cob_sick_s300" type="cob_sick_s300" respawn="false" output="screen" >
<rosparam command="load" file="$(arg pkg_hardware_config)/$(arg robot)/config/laser_$(arg name).yaml"/>
<!--remap from="laser_$(arg name)/scan" to="/scan_$(arg name)_raw"/-->
</node>
</launch>
my laser_front.yaml look like this:
port: /dev/ttyS0
baud: 500000
scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
inverted: false # is already inverted in sick firmare configuration
scan_id: 7
frame_id: /base_laser_front_link
publish_frequency: 12
scan_intervals: [[-1.3526, 1.361357]] #[rad] these intervals are included to the scan
fields:
'1':
scale: 0.01
start_angle: -2.355
stop_angle: 2.355
I launched : roslaunch cob_bringup laser_front.launch and in a second terminal i wan't to see laserscanner data whit : rostopic echo /laser_front/scan .
The problem is that my second Terminal shows nothing and i don't know why. i think that i should be able to see some data produced by the scanner.
Please, has anyone an idea ? I will appreciate any help. Thank you very much.
Have you tried to view the serial data with a terminal program? (or just cat /dev/ttyS0 , just to see if the scanner are sending data? ) Configure the Scanners to send data continuously for this test.
Do your ports support RS-422 and 500k baud? Can your S300 send data? The cheaper ones can't.
hey, I am running into the same problem. In addition, my sick laser is displaying f-9 error, which corresponds to an ossd-wiring problem.
Did you solve the problem, and maybe give me some hint?
Thanks in advance.
@Fookii this is a 5 year old question with a 4 year old answer. If the answer doesn't work for you, then you should create a new question and reference this one