CarmenSickLaserS300

Revision 1 as of 2007-07-13 03:14:49

Connecting Carmen to the SICK Laser S300

simulator

simulator warning is odd because 270 degrees is the default for S300

   1 $ ./simulator
   2 CARMEN - Carnegie Mellon Robot Navigation Toolkit - Version 0.6.1
   3 
   4 Warnung: You are not using a standard SICK configuration (fov=270.0000 deg)

laserview

laserview core dumps immediately:

   1 $ ./laserview 
   2 CARMEN - Carnegie Mellon Robot Navigation Toolkit - Version 0.6.1
   3 
   4 *** stack smashing detected ***: ./laserview terminated
   5 Aborted (core dumped)

handleDataMsgRecv : Connection reset by peer

central reports this error when laserview exits:

   1 $ ./central 
   2 central running...
   3 ERROR: handleDataMsgRecv : Connection reset by peer

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:

   1 /src/laser$ ./sick_laser_test  /dev/ttyUSB0
   2 device is /dev/ttyUSB0
   3 connected
   4   Querying baudrate ................ 9600 ........ failed
   5                                      19200 ........ failed
   6                                      38400 ........ failed
   7                                      500000 . checksum error ....... failed
   8                                      error
   9   sick_test_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

https://wiki.ubuntu.com/carmen

Ubuntu Wiki