Sick S300 expert node hangs on serial communication

asked 2019-03-08 04:16:37 -0600

Dben
15 ●13 ●19 ●24

updated 2019-03-08 04:19:00 -0600

Hi, I'm trying to use a SICK S300 using the http://wiki.ros.org/cob_sick_s300 package.

This is my launchfile:

<launch>
  <!-- start laser driver -->
  <node name="laser" pkg="cob_sick_s300" type="cob_sick_s300" respawn="false" output="screen">
    <rosparam command="load" file="$(find cob_sick_s300)/config/s300.yaml"/>
  </node>
</launch>

And since the package uses global configuration, I manually set the port to /dev/USB0 and regarding the baudrate, I tried all of them...

When starting the node, I get:

[ WARN] [1552039833.830089342]: Used default parameter for scan_id
[ WARN] [1552039833.831161042]: Used default parameter for inverted
[ WARN] [1552039833.832253320]: Used default parameter for frame_id
[ WARN] [1552039833.833335086]: Used default parameter for scan_duration
[ WARN] [1552039833.834374530]: Used default parameter for scan_cycle_time
[ INFO] [1552039833.838225338]: Opening scanner... (port:/dev/ttyUSB0)
Setting Baudrate to 38400
[ INFO] [1552039834.838694591]: ...scanner opened successfully on port /dev/ttyUSB0

Which looks good, but it hangs. I narrowed it down and it blocks at this line: https://github.com/ipa320/cob_driver/...

The buffer is empty, but I don't know what it means...

My setup: OS: Ubuntu ROS version: Kinetic RS422: use a standard USB-RS422 cable and connected RX- to TX- and RX+ to TX+. The laser has the STOP highlighted and a dot and upper line ON.

Did I miss anything here?

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Comments

The Used default parameter for .. msg seems to indicate that the node can't find any of its parameters. See here fi.

You seem to be loading the parameters as private parameters and I don't believe that will work.

And since the package uses global configuration

I'm not sure what you mean by that: the node simply looks for parameters in the same namespace it is launched in. So if there is no namespace configured, that would be the global one, yes.