No data from SICK S300 in ROS

asked 2019-08-27 03:56:33 -0600

fzeta gravatar image

updated 2022-01-22 16:10:03 -0600

Evgeny gravatar image

Using the cob_sick_s300 package and an RS422 -> USB connection to a Raspberry Pi I can't seem to get any data that will visualise in ROS/RVIZ although I am able to view the incoming data in a python program reading from the /dev/ttyUSB0 interface.

s300_launch.launch file

<launch
        <rosparam command ="load" file="$(find cob_sick_s300)s300_config.yaml"/> 
</launch>

s300_config.yaml file

port: /dev/ttyUSB0
baud: 38400
scan_duration: 0.025
scan_cycle_time: 0.040
inverted: true
scan_id: 7
frame_id: laser
scan_intervals: [[-1.3526, 1.361357]]
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Can you show what your rviz looks like? It is possible you don't have rviz configured correctly.

MCornelis gravatar image MCornelis  ( 2019-08-27 05:27:46 -0600 )edit

I've added the laserscan and tried to add the topic for the scanner, however before doing so I'm unable to find it using rostopic list as it only shows

/rosout
/rosout_agg
fzeta gravatar image fzeta  ( 2019-08-27 05:41:47 -0600 )edit
1

Your .launch file doesn't appear to start any node(s). It just loads some parameters from a .yaml file.

No driver is started, which would explain why you're not seeing any topics other than the default ones, and no data is being published.

gvdhoorn gravatar image gvdhoorn  ( 2019-08-27 05:55:38 -0600 )edit

Oh, what would I need to do to start a node in this context?

fzeta gravatar image fzeta  ( 2019-08-27 05:56:27 -0600 )edit
1

You'll have to figure out how to actually start the driver. I don't have any experience with that package, so I wouldn't know.

There may be other .launch files that you could use. I'd check for those first.

Have you checked the wiki page of the package? It refers to launch files in cob_bringup that you may be able to use as templates/examples.

gvdhoorn gravatar image gvdhoorn  ( 2019-08-27 05:59:33 -0600 )edit

Have a look here for an explanation on roslaunch using XML: http://wiki.ros.org/roslaunch/XML

MCornelis gravatar image MCornelis  ( 2019-08-27 06:01:42 -0600 )edit
1

https://github.com/ipa320/cob_robots/... I was also able to find this for kinetic. Might be useful as an example.

MCornelis gravatar image MCornelis  ( 2019-08-27 06:06:36 -0600 )edit

I'm having trouble with the cob_hardware_config package as I can't seem to find it through apt-get. It doesn't seem to be a Melodic package

fzeta gravatar image fzeta  ( 2019-08-27 06:16:41 -0600 )edit
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