CarmenSickLaserS300
Connecting Carmen to the SICK Laser S300
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FTDI Converter
BlackBox IC199A-R2
This converter from BlackBox based on the FTDI chip works very well and allows 500kBaud.
1 [18140.100000] usb 3-1: new full speed USB device using uhci_hcd and address 11
2 [18140.292000] usb 3-1: configuration #1 chosen from 1 choice
3 [18140.296000] ftdi_sio 3-1:1.0: FTDI USB Serial Device converter detected
4 [18140.296000] drivers/usb/serial/ftdi_sio.c: Detected FT232BM
5 [18140.296000] usb 3-1: FTDI USB Serial Device converter now attached to ttyUSB0
laser
1 ./laser
2 CARMEN - Carnegie Mellon Robot Navigation Toolkit - Version 0.6.1
3
4 This instance of laser will use the lasers with the ids: [1 2 3 4 5]
5
6 Laser id ........................... 1
7 Requested baud rate ................ 500000 kbps
8 Checking requested configuration ... see below
9 Requested laser configuration:
10 type ............................. SICK_S300
11 remission_mode ................... none
12 resolution ....................... 0.50 deg
13 max range ........................ 30.000 m
14 fov .............................. 270 deg
15 start angle ...................... -135.00 deg
16 INFO: The current S300 driver requires the laser to be configured
17 in the 500kbps continuous mode (using the SICK Windows tools).
18
19 Initialization device .............. done
20
21 Connecting device .................. connected
22 Connection to laser device succeded
23
24 Configuring laser device ........... see below
25 Configuration of laser device succeded
26
27 Initializing of laser with 0 successfully completed!
28
29 Info: Starting thread for laser 1
30 Info: The laser 2 is not used in this instance of laser
31 Info: The laser 3 is not used in this instance of laser
32 Info: The laser 4 is not used in this instance of laser
33 Info: The laser 5 is not used in this instance of laser
34
35 Timestamp calibration for laser 1, please wait a few seconds (100 scans)
36 .....................................................................................................Estimated frequency of laser 1 is 12.9220 Hz
37 status: send-queue: 0 msg(s), laser-msg freqency: 13.114 Hz (globally)
38 status: send-queue: 0 msg(s), laser-msg freqency: 12.780 Hz (globally)
39 status: send-queue: 0 msg(s), laser-msg freqency: 12.771 Hz (globally)
simulator
simulator warning is odd because 270 degrees is the default for S300
laserview
laserview core dumps immediately:
handleDataMsgRecv : Connection reset by peer
central reports this error when laserview exits:
laser
laser seems to initialize ok but then timeout (how long is it supposed to take for 100 scans?)
1 $ time ./laser
2 CARMEN - Carnegie Mellon Robot Navigation Toolkit - Version 0.6.1
3
4 This instance of laser will use the lasers with the ids: [1 2 3 4 5]
5
6
7 Laser id ........................... 1
8 Requested baud rate ................ 500000 kbps
9 Checking requested configuration ... see below
10 Requested laser configuration:
11 type ............................. SICK_S300
12 remission_mode ................... none
13 resolution ....................... 0.50 deg
14 max range ........................ 30.000 m
15 fov .............................. 270 deg
16 start angle ...................... -135.00 deg
17 INFO: The current S300 driver requires the laser to be configured
18 in the 500kbps continuous mode (using the SICK Windows tools).
19
20 Initialization device .............. done
21
22 Connecting device .................. connected
23 Connection to laser device succeded
24
25 Configuring laser device ........... see below
26 Configuration of laser device succeded
27
28 Initializing of laser with 0 successfully completed!
29
30 Info: Starting thread for laser 1
31 Info: The laser 2 is not used in this instance of laser
32 Info: The laser 3 is not used in this instance of laser
33 Info: The laser 4 is not used in this instance of laser
34 Info: The laser 5 is not used in this instance of laser
35
36
37 Timestamp calibration for laser 1, please wait a few seconds (100 scans)
38 Cleaning up structures from laser 1 ...... done
real 3m24.322s
user 0m0.012s sys 0m0.004s
sick_laser_test
sick_laser_test reports baudrate failed:
dmesg
dmesg reports unsupported baudrate request, so maybe this is a config problem on my machine's port?
1 [ 2122.114178] usb 2-1: new full speed USB device using uhci_hcd and address 2
2 [ 2122.344907] usb 2-1: configuration #1 chosen from 1 choice
3 [ 2122.453176] usbcore: registered new interface driver usbserial
4 [ 2122.453201] drivers/usb/serial/usb-serial.c: USB Serial support registered for generic
5 [ 2122.453243] usbcore: registered new interface driver usbserial_generic
6 [ 2122.453248] drivers/usb/serial/usb-serial.c: USB Serial Driver core
7 [ 2122.463203] drivers/usb/serial/usb-serial.c: USB Serial support registered for MCT U232
8 [ 2122.463448] mct_u232 2-1:1.0: MCT U232 converter detected
9 [ 2122.463835] usb 2-1: MCT U232 converter now attached to ttyUSB0
10 [ 2122.464009] usbcore: registered new interface driver mct_u232
11 [ 2122.464018] drivers/usb/serial/mct_u232.c: Magic Control Technology USB-RS232 converter driver z2.0
12 [ 2357.624277] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
13 [ 2390.342930] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
14 [ 2414.435393] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
15 [ 2744.393623] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
16 [ 3817.471004] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
17 [ 3925.556699] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
18 [ 4412.285729] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
19 [ 4426.415375] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
20 [ 4723.902639] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
21 [ 4745.224869] drivers/usb/serial/mct_u232.c: MCT USB-RS232: unsupported baudrate request 0x1005, using default of B9600
carmen
CarmenSickLaserS300 (last edited 2008-08-06 16:26:45 by localhost)