In a classroom setup we have tried to get the sick_tim310s01 node up an running on a Raspberry Pi 3 running Ubuntu Mate 16.04. The setup works well on a laptop running Ubuntu 16.04 but on the raspi it is apparently unable to communicate with the TIM310 and causes a stack smashing error. (identical files under ros workspace, just moving the usb cable)

The sick_tim551_2050001 node works well under both configurations, so the detected problem seems to be isolated to the sick_tim310s01 node.

The problem was reproduced independently by two student teams and the lecturer.

Below is the rosout error when running on the raspi 3:

[ INFO] [1477006478.882499078]: SICK AG - TIM3XX - [1]
[ INFO] [1477006478.882742202]: ----------------------------------------
[ INFO] [1477006478.882878503]: Device Class: 0x0
[ INFO] [1477006478.882967096]: VendorID: 0x19a2
[ INFO] [1477006478.883064908]: ProductID: 0x5001
[ INFO] [1477006478.883150689]: ----------------------------------------
[ INFO] [1477006478.883266365]: Interfaces: 1
[ INFO] [1477006478.883350739]: ----------------------------------------
[ INFO] [1477006478.883440114]: Number of alternate settings: 1
[ INFO] [1477006478.883524540]: Interface number: 0
[ INFO] [1477006478.883607873]: Number of endpoints: 2
[ INFO] [1477006478.883692560]: Descriptor Type: 5
[ INFO] [1477006478.883777507]: EP Address: 129
[ INFO] [1477006478.883857507]: Descriptor Type: 5
[ INFO] [1477006478.883935111]: EP Address: 2
[ INFO] [1477006478.884030058]: ----------------------------------------
[ INFO] [1477006478.884250994]: LIBUSB - Claimed interface
[ERROR] [1477006479.885061559]: LIBUSB - Read Error: -7.
[ERROR] [1477006479.886348113]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [1477006480.888117057]: LIBUSB - Read Error: -7.
[ERROR] [1477006480.889940222]: SOPAS - Error reading variable 'FirmwareVersion'.
*** stack smashing detected ***: /opt/ros/kinetic/lib/sick_tim/sick_tim310s01 terminated

After I run

sudo apt upgrade

On my computer which is Ubuntu18.04 ,ROS kinetic,i can not launch the sick_tim.

roslaunch sick_tim demo.launch

The error tips:

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.102:33235/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /sick_tim571_2050101/frame_id: laser_frame
 * /sick_tim571_2050101/hostname: 192.168.1.112
 * /sick_tim571_2050101/intensity: False
 * /sick_tim571_2050101/max_ang: 1.47
 * /sick_tim571_2050101/min_ang: -1.47
 * /sick_tim571_2050101/port: 2112
 * /sick_tim571_2050101/range_max: 10.0
 * /sick_tim571_2050101/timelimit: 5

NODES
  /
    base_link_to_laser5 (tf/static_transform_publisher)
    sick_tim571_2050101 (sick_tim/sick_tim551_2050001)

ROS_MASTER_URI=http://localhost:11311

process[sick_tim571_2050101-1]: started with pid [24076]
process[base_link_to_laser5-2]: started with pid [24089]
terminate called after throwing an instance of 'std::runtime_error'
  what():  Time is out of dual 32-bit range
[sick_tim571_2050101-1] process has died [pid 24076, exit code -6, cmd /sick_ws/devel/lib/sick_tim/sick_tim551_2050001 scan:=sick_scan __name:=sick_tim571_2050101 __log:=/home//.ros/log/b0b341c6-93c9-11e9-ab34-a43bfa91b9d7/sick_tim571_2050101-1.log].
log file: /.ros/log/b0b341c6-93c9-11e9-ab34-a43bfa91b9d7/sick_tim571_2050101-1*.log
^C[base_link_to_laser5-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

All of the demo.launch file is:

<?xml version="1.0"?>
<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find sick_tim)/urdf/example.urdf.xacro'" />
<!--
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-->
  <node name="sick_tim571_2050101" pkg="sick_tim" type="sick_tim551_2050001" respawn="false" output="screen">
      <param name="min_ang" type="double" value="-1.47" />
      <param name="max_ang" type="double" value="1.47" />
      <param name="intensity" type="bool" value="False" />
      <param name="frame_id" type="str" value="laser_frame" />
    <!-- default values: -->
    <!--
      <param name="min_ang" type="double" value="-2.35619449019" />
      <param name="max_ang" type="double" value="2.35619449019" />
      <param name="intensity" type="bool" value="True" />
      <param name="skip" type="int" value="0" />
      <param name="frame_id" type="str" value="laser" />
      <param name="time_offset" type="double" value="-0.001" />
      <param name="publish_datagram" type="bool" value="False" />
      <param name="subscribe_datagram" type="bool" value="false" />
      <param name="device_number" type="int" value="0" />
      <param name="range_min" type="double" value="0.05" />
    -->
    <param name="range_max" type="double" value="10.0" />

    <!-- Older versions of the scanner firmware report an incorrect time_increment.
         If you get a warning about time_increment, uncomment this. -->
    <!-- <param name="time_increment" type="double" value="0.000061722" /> -->

    <!-- Uncomment this to enable TCP instead of USB connection; 'hostname' is the host name or IP address of the laser scanner
    In cases where a race condition exists and the computer boots up before the TIM is ready, increase 'timelimit.'
         <param name="hostname" type="string" value="192.168.0.1" />
         <param name="port" type="string" value="2112" /> 
         <param name="timelimit" type="int" value="5" />
    -->
   <param name="hostname" type="string" value="192.168.1.112" />
         <param name="port" type="string" value="2112" />
         <param name="timelimit" type="int" value="5" />
  <remap from="scan" to="sick_scan"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser5"
   args="0.40 0.0 0.4 -3.2 -3.1415926  0.0 /base_footprint /laser_frame 40" />
</launch>

I consider if anywhere divide zero but don't know where. Anyone can help?

Not sure if this is specific to my setup or not but thought I would bring it up.

When I clone the sick_tim repo, kinetic branch, I cannot catkin_make the package without modifying header files first.

I initially tried to build the package and received the error libusb.h: No such file or directory. To solve this I had to install the libusb-1.0-0-dev package. However this package installs libusb.h into a sub directory aka /usr/include/libusb-1.0/

Then when I try to rebuild I get errors for sick_tim_common_usb.h and sick_tim_common_mockup.h.

I had to edit these files to include the following:
#include <libusb-1.0/libusb.h>

Again this may be specific to my setup which is
Ubuntu 16.04
ROS Kinetic
Jetson TX1 Arm Processor

I got a new sick tim 571 and it is not functioning as it is supposed to. It only sees the max range of 10 and not at 25 m as it is supposed to. I did check the range_max in launch file and it is set at 25 m. Any thoughts?. Another firmware issue ?

Hi,

I'm trying to work with the SICK laser TIM571-2050101. But I always received two different errors:

LIBUSB - Read Error: -7 (LIBUSB_ERROR_TIMEOUT) or LIBUSB - Read Error: -9 ( LIBUSB_ERROR_PIPE )

The error is in the function libusb_bulk_transfer of libusb

[ERROR] [1444834004.223997555]: LIBUSB - Read Error: -7.
[ERROR] [1444834004.224061386]: SOPAS - Error reading variable 'DeviceIdent'.
[ERROR] [1444834005.225027697]: LIBUSB - Read Error: -7.
[ERROR] [1444834005.225102733]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [1444834006.426673049]: LIBUSB - Read Error: -7.
[ERROR] [1444834006.426734884]: SOPAS - Error reading variable 'FirmwareVersion'.
[ERROR] [1444834007.628947346]: LIBUSB - Read Error: -7.
[ERROR] [1444834007.629010369]: SOPAS - Error starting to stream 'LMDscandata'.
[FATAL] [1444834007.629112005]: Failed to init scanner: 1

@vmayoral

I was trying to connect the MRS1000 with ubuntu 16.04.
I edited the launch file to my scanners ip-adres and port. (169.254.146.33) (2112)

I also added a network as can be seen:

when trying to run the launch file i get the following error:

`dvzijl@dvzijl-VirtualBox:~$ roslaunch sick_tim sick_mrs1000.launch
... logging to /home/dvzijl/.ros/log/a1a92df0-487d-11e8-a03d-080027e11e98/roslaunch-dvzijl-VirtualBox-8584.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dvzijl-VirtualBox:34491/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.13
• /sick_mrs1000/hostname: 192.168.0.1
• /sick_mrs1000/port: 2111

NODES
/
sick_mrs1000 (sick_tim/sick_mrs1000)

auto-starting new master
process[master]: started with pid [8594]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a1a92df0-487d-11e8-a03d-080027e11e98
process[rosout-1]: started with pid [8607]
started core service [/rosout]
process[sick_mrs1000-2]: started with pid [8617]
[ INFO] [1524656505.957309267]: Waiting 5 seconds for device to connect.
[ERROR] [1524656505.958788048]: Failed to connect to 192.168.0.1:2111
[FATAL] [1524656505.958812768]: Could not connect to host 192.168.0.1:2111
[FATAL] [1524656505.958830097]: Failed to init device: 1
[ERROR] [1524656505.959843522]: write error for command: �sEN LMDscandata 0�

SOPAS - Error stopping streaming scan data!
sick_tim driver exiting.
[ INFO] [1524656505.984143105]: Waiting 5 seconds for device to connect.
[ERROR] [1524656505.985229911]: Failed to connect to 192.168.0.1:2111
[FATAL] [1524656505.985249588]: Could not connect to host 192.168.0.1:2111
[FATAL] [1524656505.985288035]: Failed to init device: 1
[ERROR] [1524656505.985955430]: write error for command: �sEN LMDscandata 0�`

While i edited the launch file i still get the error with it trying to connect to 192.168.0.1:2111?

I can access the lidar with SOPAS but i also can't ping it from ubuntu.

I cloned the package for sick_tim3xx lidar but when i write the command
roslaunch sick_tim3xx sick_tim3xx.launch
the output i get is-
... logging to /home/kriti/.ros/log/2a54a9f0-da5f-11e2-bcca-3859f95c255d/roslaunch-kriti-Inspiron-N5110-8535.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://kriti-Inspiron-N5110:60244/

SUMMARY

PARAMETERS

• /robot_description
• /rosdistro
• /rosversion

NODES
/
robot_state_publisher (robot_state_publisher/state_publisher)
sick_tim3xx (sick_tim3xx/sick_tim3xx)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [8563]
process[sick_tim3xx-2]: started with pid [8580]
[ERROR] [1371811613.728281233]: No SICK TiM3xx devices connected!
[sick_tim3xx-2] process has died [pid 8580, exit code -11, cmd /home/kriti/catkin_ws/src/sick_tim3xx/bin/sick_tim3xx __name:=sick_tim3xx __log:=/home/kriti/.ros/log/2a54a9f0-da5f-11e2-bcca-3859f95c255d/sick_tim3xx-2.log].
log file: /home/kriti/.ros/log/2a54a9f0-da5f-11e2-bcca-3859f95c255d/sick_tim3xx-2*.log

could someone help me out with this problem?

i used tim361 and "rostopic echo" to linstenintg laser's message .
as the sepc of Tim361 shows it should report the ranges at 15Hz,but "rostopic echo" only updated about 5Hz,and Rviz updated messages at same rate.
i tryed to use SopasET to config tim361 but nothing found, the report rate is an read only pram.
the fireware of my tim361 is 2.42
How can i rise up the update rate in ros

Hey,

I could not get proper permissions on the TIM551
(kept having to do chmod 666 /usb/002/003)

until I modified your included udev rule to:

SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="19a2", ATTR{idProduct}=="5001", GROUP="plugdev", MODE="666"

Hi guys,
I want to read data from sick tim 571-2050101 in linux . I think some codes should be exist and I can work on it.

Dear all
First my MRS1000 work well on Windows with the tools provide by Sick
But...
I try to use one MRS1000 with ROS kinetic (Ubuntu 16.4)
I well config the Ethernet like propose in #34
I'm able to ping my lidar on 169.254.80.200 (2112 / 255.255.255.0 / 0.0.0.0)
ping 169.254.80.200
PING 169.254.80.200 (169.254.80.200) 56(84) bytes of data.
64 bytes from 169.254.80.200: icmp_seq=1 ttl=64 time=0.071 ms
64 bytes from 169.254.80.200: icmp_seq=2 ttl=64 time=0.077 ms
64 bytes from 169.254.80.200: icmp_seq=3 ttl=64 time=0.084 ms_

in the
sick_mrs_1000.launch

but when I try to launch the ROS node, I have :

roslaunch sick_tim sick_mrs_1000.launch

... logging to /home/th01_up2/.ros/log/c4817d68-cb97-11e7-b5ef-000732496497/roslaunch-th01-30311.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://th01:35931/
SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.7
• /sick_mrs_1000/hostname: 169.254.80.200
• /sick_mrs_1000/port: 2112
• /sick_mrs_1000/range_max: 25.0
  NODES
  /
  sick_mrs_1000 (sick_tim/sick_mrs_1000)
  ROS_MASTER_URI=http://localhost:11311
  core service [/rosout] found
  process[sick_mrs_1000-1]: started with pid [30329]
  [ INFO] [1510927783.024197611]: Waiting 5 seconds for device to connect.
  [ERROR] [1510927783.024648276]: Failed to connect to 169.254.80.200:2112
  [FATAL] [1510927783.024843050]: Could not connect to host 169.254.80.200:2112
  [FATAL] [1510927783.024983489]: Failed to init device: 1
  [ERROR] [1510927783.025239108]: write error for command: �sEN LMDscandata 0�
  SOPAS - Error stopping streaming scan data!
  sick_tim driver exiting.

Any idea ? What I should change to take hand on my MRS1000 with ROS / Ubuntu
Thank you in advance
Vincent

I want to publish a message to control it.When robot doesn't use it, the device stops working and it restarts once robot need its data，just like a kind of sleeping mode,so that I can extend the lidar life.However,I couldn't find the way to get this goal.

when i try to catkin_make there are error : /home/ubuntu/catkin_ws/devel/lib/libsick_tim_3xx.so: undefined reference to `libusb...."
AND my /home/ubuntu/catkin_ws/devel/lib/sick_tim/ file is totally empty.

The .intensities attributes of the LaserScan messages is empty, even though the parameter is true:

 $ rosparam get /sick_tim571_2050101/intensity 
 true

And my launch file explicitly sets it:

 <?xml version="1.0"?>
 <launch>
   <param name="robot_description" command="$(find xacro)/xacro.py '$(find sick_tim)/urdf/example.urdf.xacro'" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

   <node name="sick_tim571_2050101" pkg="sick_tim" type="sick_tim551_2050001" respawn="false" output="screen">
       <param name="min_ang" type="double" value="-2.35619449019" />
       <param name="max_ang" type="double" value="2.35619449019" />
       <param name="intensity" type="bool" value="True" />
       <param name="skip" type="int" value="0" />
       <param name="frame_id" type="str" value="laser" />
       <param name="time_offset" type="double" value="-0.001" />
       <param name="publish_datagram" type="bool" value="False" />
       <param name="subscribe_datagram" type="bool" value="false" />
       <param name="range_min" type="double" value="0.05" />
       <param name="range_max" type="double" value="25.0" />

          <param name="hostname" type="string" value="192.168.0.68" />
          <param name="port" type="string" value="2112" />
          <param name="timelimit" type="int" value="5" />

   </node>
 </launch>

(the ranges & other data look correct, though)

I did some poking around in the ROS node source, and it appears the RSSI data aren't even in the datagrams it's getting from the device.

Could this be a malfunctioning device, or maybe incorrectly configured?

Hello,

I am using a Sick_Tim561 and the sick_tim package for mobile robot localization. But while the scanning frequency is at 15Hz, the topic /scan is only updated at 3Hz. So far I haven't been able to know why. Do you have any idea ?

The sensor is linked to a Raspberry Pi with an Ethernet cable. But the rosmaster is on my laptop which is linked by WiFi to the Raspberry. Moreover I use the launch file sick_tim551_2050001.launch .

Here is a rosbag:
2019-06-27-09-23-07.bag.tar.gz

Have a nice day.

I am new to ROS and am using a sick TIM 561 scanner with a USB on a linux system. While launching the scanner using

$ roslaunch sick_tim sick_tim551_2050001.launch

it is throwing an exception (screenshot attached). Please help me with the same.

Hello,

We are having some issues with the TIM561. As you can see we changed the IP of the lidar to 192.164.1.4 through SOPAS

so we changed the launch file sick_tim_5xx.launch

then we tried to launch it and this error keeps happening

the lidars restart itself and set its IP back to default.
Why this error keeps happening? How can we fix this?

Thank you in advance for your consideration.

The title was copied from Operating_instructions_TiM55x_TiM56x_TiM57x_en_IM0053143.PDF in the table "Function of the synchronization output (SYNC/De-
vice Ready)". And the question which makes me confused is that if it is correct for the Tim561?Can it be configured?

Hi there,

I ran the ROS wrapper and noticed that the intensity is only available at the /scan topic which means only one ring (out of) for sick mrs1000. Does that mean the intensity data is available for only one ring?

Thanks!

Hello,

First of all thanks for the packages, very useful!
We have two lidars:

1. a SICK TIM-510 in the rear,
2. and a SICK TIM-561 in the front.

However, we've run into a peculiar issue:

When both lidars are plugged in (USB) then the front lidar (TIM 561) produces warnings and there is no data read from either device:

roslaunch sick_tim sick_tim551_2050001.launch

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.6

NODES
  /
    robot_state_publisher (robot_state_publisher/state_publisher)
    sick_tim551_2050001 (sick_tim/sick_tim551_2050001)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [23209]
process[sick_tim551_2050001-2]: started with pid [23210]

[ INFO] [1487597677.973621625]: SICK AG - TIM3XX - [1]
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: Device Class: 0x0
[ INFO] [1487597677.973621625]: VendorID:     0x19a2
[ INFO] [1487597677.973621625]: ProductID:    0x5001
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: Interfaces: 1
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: Number of alternate settings: 1
[ INFO] [1487597677.973621625]: Interface number: 0
[ INFO] [1487597677.973621625]: Number of endpoints: 2
[ INFO] [1487597677.973621625]: Descriptor Type: 5
[ INFO] [1487597677.973621625]: EP Address: 129
[ INFO] [1487597677.973621625]: Descriptor Type: 5
[ INFO] [1487597677.973621625]: EP Address: 2
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: SICK AG - TIM3XX - [2]
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: Device Class: 0x0
[ INFO] [1487597677.973621625]: VendorID:     0x19a2
[ INFO] [1487597677.973621625]: ProductID:    0x5001
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: Interfaces: 1
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: Number of alternate settings: 1
[ INFO] [1487597677.973621625]: Interface number: 0
[ INFO] [1487597677.973621625]: Number of endpoints: 2
[ INFO] [1487597677.973621625]: Descriptor Type: 5
[ INFO] [1487597677.973621625]: EP Address: 129
[ INFO] [1487597677.973621625]: Descriptor Type: 5
[ INFO] [1487597677.973621625]: EP Address: 2
[ INFO] [1487597677.973621625]: ----------------------------------------
[ INFO] [1487597677.973621625]: LIBUSB - Claimed interface
[ WARN] [1487597678.017621618]: Field 15 of received data is not equal to 0 (D1). Unexpected data, ignoring scan
[ WARN] [1487597678.085621607]: Field 15 of received data is not equal to 0 (C9). Unexpected data, ignoring scan
[ WARN] [1487597678.153621596]: Field 15 of received data is not equal to 0 (B4). Unexpected data, ignoring scan
[ WARN] [1487597678.217621585]: Field 15 of received data is not equal to 0 (FA). Unexpected data, ignoring scan
[ WARN] [1487597678.285621574]: Field 15 of received data is not equal to 0 (7F). Unexpected data, ignoring scan
[ WARN] [1487597678.349621564]: Field 15 of received data is not equal to 0 (83). Unexpected data, ignoring scan
[ WARN] [1487597678.417621553]: Field 15 of received data is not equal to 0 (CB). Unexpected data, ignoring scan
[ WARN] [1487597678.485621542]: Field 15 of received data is not equal to 0 (DC). Unexpected data, ignoring scan
[ WARN] [1487597678.553621531]: Field 15 of received data is not equal to 0 (4B). Unexpected data, ignoring scan
[ WARN] [1487597678.617621521]: Field 15 of received data is not equal to 0 (93). Unexpected data, ignoring scan
[ WARN] [1487597678.685621510]: Field 15 of received data is not equal to 0 (1C). Unexpected data, ignoring scan
[ WARN] [1487597678.749621499]: Field 15 of received data is not equal to 0 (B). Unexpected data, ignoring scan
[ WARN] [1487597678.817621488]: Field 15 of received data is not equal to 0 (DE). Unexpected data, ignoring scan
[ WARN] [1487597678.885621477]: Field 15 of received data is not equal to 0 (B7). Unexpected data, ignoring scan
[ WARN] [1487597678.949621467]: Field 15 of received data is not equal to 0 (86). Unexpected data, ignoring scan
[ WARN] [1487597679.017621456]: Field 15 of received data is not equal to 0 (A). Unexpected data, ignoring scan
[ WARN] [1487597679.085621445]: Field 15 of received data is not equal to 0 (CD). Unexpected data, ignoring scan
[ WARN] [1487597679.153621434]: Field 15 of received data is not equal to 0 (C0). Unexpected data, ignoring scan
[ WARN] [1487597679.217621423]: Field 15 of received data is not equal to 0 (9A). Unexpected data, ignoring scan
[ WARN] [1487597679.285621412]: Field 15 of received data is not equal to 0 (76). Unexpected data, ignoring scan
[ WARN] [1487597679.349621402]: Field 15 of received data is not equal to 0 (19). Unexpected data, ignoring scan
[ WARN] [1487597679.417621391]: Field 15 of received data is not equal to 0 (12). Unexpected data, ignoring scan
[ WARN] [1487597679.485621380]: Field 15 of received data is not equal to 0 (78). Unexpected data, ignoring scan

As you can see, it appears that the front LIDAR (TIM561) is mixed up with the rear one (TIM510).

• When I unplug the rear one, the front one works fine (will read without errors)
• When I plug both in, the rear one roslaunch sick_tim sick_tim310_1130000m01.launch works fine but the front won't read anything
• If I launch roslaunch sick_tim sick_tim551_2050001.launch I get no data at all
• From what I can tell, regardless of the roslaunch param, they are both recognized as the same model.
• Trying to run two nodes, one for each fails, as the LIBUSB interface can't be acquired.

Can you please help?

Hello,

I am posing my question here and if any one knows the solution, it would be great.
I m using SICK LMS 511-10100 pro on ubuntu 14.04 with ROS Indigo.

Specifically, I m getting this error

iirav@iirav:~$ rosrun laser_node laser_node 
	*** Attempting to initialize the Sick LMS 5xx...
	Attempting to connect to Sick LMS 5xx @ 192.168.0.1:2111
A Timeout Occurred - SickLMS5xx::_setupConnection: select() timeout!
A Timeout Occurred - SickLMS5xx::_setupConnection: select() timeout!
[ERROR] [1496664746.220065882]: Initialize failed!

I also tried, setting one of the ethernet port to 192.168.0.10, but still ending up with the same error.

Could you help ?

Hi,
I think there is a missing param to change the defaut name of the laser frame.
I have change the param in the launch file but there is no change.

Does anyone know that this package supports sick s300 expert laser?

thanks you for your package. i have a sick tim571,but when i " roslaunch sick_tim sick_tim571_2050101.launch" , i got follow problem :

[ INFO] [1541644593.482460014]: Waiting 5 seconds for device to connect.
[ INFO] [1541644593.482886536]: Succesfully connected to 169.254.66.113:2112
[ WARN] [1541644593.551938275]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644593.618800364]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644593.685426119]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644593.752336910]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644593.818296715]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644593.885475636]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644593.951638890]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644594.018524931]: Less fields than expected for 811 data points (1660). Ignoring scan
[ WARN] [1541644594.084968651]: Less fields than expected for 811 data points (1660). Ignoring scan

as you can see ,internet connected successfully, so hardware is ok. could you tell me how can i process it? thanks !
my computer system is ubuntu16.04, ros kinetic.

The sick_tim ROS driver seems to work well when the SICK MRS1000 is sending only first or last echo: both range and intensity measurements are published correctly. If the MRS1000 is configured to send all the three echoes (with or without intensities) the sick_tim prints repeatedly following warnings:
[ WARN] [1533648107.591137655]: Number of RSSI data is lower than number of range data (1101 vs 5061
[ WARN] [1533648107.611167093]: Number of RSSI data is lower than number of range data (1101 vs 4944
and no data is published.

So it seems currently there is no multiple echoes (three in case of SICK MRS1000) support in the sick_tim ROS driver, but it would be great if it could be added!

Hi, I am having issues getting my Sick Tim310-1030000 to publish data on /scan.

I initially I had a TIMEOUT error, I fixed that by increasing the time out by 500ms in sick_tim_common_usb.cpp.

LIBUSB_ERROR_TIMEOUT + 500

Now I have another error:

... logging to /home/ponn/.ros/log/b15e236c-c068-11e5-bd53-dc5360922b79/roslaunch-ponn-22050.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://139.103.89.70:58715/

SUMMARY
========

PARAMETERS
 * /robot_description
 * /rosdistro
 * /rosversion

NODES
  /
    robot_state_publisher (robot_state_publisher/state_publisher)
    sick_tim310 (sick_tim/sick_tim310)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [22071]
process[sick_tim310-2]: started with pid [22089]
[ INFO] [1453404496.214508875]: SICK AG - TIM3XX - [1]
[ INFO] [1453404496.214598429]: ----------------------------------------
[ INFO] [1453404496.214641661]: Device Class: 0x0
[ INFO] [1453404496.214676574]: VendorID:     0x19a2
[ INFO] [1453404496.214714734]: ProductID:    0x5001
[ INFO] [1453404496.214748722]: ----------------------------------------
[ INFO] [1453404496.214818428]: Interfaces: 1
[ INFO] [1453404496.214855117]: ----------------------------------------
[ INFO] [1453404496.214897265]: Number of alternate settings: 1
[ INFO] [1453404496.214933093]: Interface number: 0
[ INFO] [1453404496.214965705]: Number of endpoints: 2
[ INFO] [1453404496.214998357]: Descriptor Type: 5
[ INFO] [1453404496.215033398]: EP Address: 129
[ INFO] [1453404496.215064303]: Descriptor Type: 5
[ INFO] [1453404496.215095864]: EP Address: 2
[ INFO] [1453404496.215131140]: ----------------------------------------
[ INFO] [1453404496.215206142]: LIBUSB - Claimed interface
[ERROR] [1453404497.220469100]: LIBUSB - Read Error: -7.
[ERROR] [1453404497.220819113]: Read Error when getting datagram: -7.

SOPAS - Stopped streaming scan data.
LIBUSB - Released Interface.

I was wondering if anyone knows the solution to this error.

The error occured on both of my out of the box SICK Tim-lasers

Thanks,
Joaquim.

hi, I want connect sick_tim561 lidar to pc using package sick_tim. When I connect lidar through Ethernet, it can be successfully to read lidar data. But when I connect lidar through USB, it appears an error. I post it below.

Everything works fine under windows with the SOPAS Engineering Tool.

After changing the IP address in the launch file and un-commenting the Ethernet section, I get under Ubuntu this error:

I thought that perhaps disabling networking changes anything, but then I get this error:

Would you please help me?

Felix

I have just updated to Hydro, and its somewhat too late to downgrade to Groovy. Is there any chance that you will migrate to Hydro in the near future?

Thanks.

Hello,

At first, I cloned sicktim files in kinetic version in my laptop(using ubuntu 16.0.4) from github and changed some parameters in those files according to my lidar. I am using TIM561-2050101S01 lidar.
Later, I realized I need to use PC in lab to work with Lidar for long term, I cloned again in melodic version (as my PC is using ROS melodic) and replaced the files with kinetic files that I have changed according to my Lidar configuration.

My catkin_make is successful. But when I use:

roslaunch sick_tim sick_tim551_2050001.launch model:=urdf/sick_tim.urdf.xacro

to launch the urdf file I am getting the following error:

RLException: [sick_tim551_2050001.launch] is neither a launch file in package [sick_tim] nor is [sick_tim] a launch file name
The traceback for the exception was written to the log file

I also removed model in launch command above, but same error persists.

I also used: roslaunch sick_tim sick_tim551_2050001.launch, same error exists

I also did this: roslaunch sick_tim sick_tim551_2050001.launch:='$(find sick_tim)/urdf/sick_tim.urdf.xacro'

the error:
RLException: [sick_tim] is not a launch file name
The traceback for the exception was written to the log file

Even, though I am able to find the sick_tim launch file in my PC. I am unable to launch it.

Can anyone answer this question? What is this error means? What should I do to remove this error?

I also tried sourcing the files.

Hello,
I cannot reveive laser scans nor datagram from a brand new Tim310, maybe i am missing an obvious confuguration step
I ran:roslaunch sick_tim310.launch and get the following console output:

[ INFO] [1459412901.374274450]: SICK AG - TIM3XX - [1]
[ INFO] [1459412901.374340031]: ----------------------------------------
[ INFO] [1459412901.374357500]: Device Class: 0x0
[ INFO] [1459412901.374375867]: VendorID:     0x19a2
[ INFO] [1459412901.374397504]: ProductID:    0x5001
[ INFO] [1459412901.374418771]: ----------------------------------------
[ INFO] [1459412901.374444977]: Interfaces: 1
[ INFO] [1459412901.374464671]: ----------------------------------------
[ INFO] [1459412901.374484516]: Number of alternate settings: 1
[ INFO] [1459412901.374503842]: Interface number: 0
[ INFO] [1459412901.374522273]: Number of endpoints: 2
[ INFO] [1459412901.374540360]: Descriptor Type: 5
[ INFO] [1459412901.374558490]: EP Address: 129
[ INFO] [1459412901.374575574]: Descriptor Type: 5
[ INFO] [1459412901.374592462]: EP Address: 2
[ INFO] [1459412901.374612250]: ----------------------------------------
[ INFO] [1459412901.374668622]: LIBUSB - Claimed interface
[ WARN] [1459412902.380436408]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412903.381279210]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412904.382005495]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412905.382584076]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412906.383259932]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412907.384010439]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412908.384579540]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412909.385220461]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412910.385830455]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
[ WARN] [1459412911.386313384]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.

Nothing is published on the topics /scan and /datagram (I have set publish_datagram to true).
The usb connection seems okay though, as i can somehow see the Serial Number of my device in the diagnotic topic, here is some echo of /diagnostics:

header: 
  seq: 17
  stamp: 
    secs: 1459415111
    nsecs: 247821658
  frame_id: ''
status: 
  - 
    level: 2
    name: sick_tim310: /scan topic status
    message: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
    hardware_id: ''
    values: []

---
header: 
  seq: 18
  stamp: 
    secs: 1459415111
    nsecs: 247946211
  frame_id: ''
status: 
  - 
    level: 2
    name: sick_tim310: /scan topic status
    message: No events recorded.; No data since last update.
    hardware_id: sRA 0 6 TiM31x E V2.51-21.08.15 sRA SerialNumber 8 16100082
    values: 
      - 
        key: Events in window
        value: 0
      - 
        key: Events since startup
        value: 0
      - 
        key: Duration of window (s)
        value: 9.011856
      - 
        key: Actual frequency (Hz)
        value: 0.000000
      - 
        key: Target frequency (Hz)
        value: 15.000000
      - 
        key: Minimum acceptable frequency (Hz)
        value: 13.500000
      - 
        key: Maximum acceptable frequency (Hz)
        value: 16.500000
      - 
        key: Earliest timestamp delay:
        value: 0.000000
      - 
        key: Latest timestamp delay:
        value: 0.000000
      - 
        key: Earliest acceptable timestamp delay:
        value: -1.000000
      - 
        key: Latest acceptable timestamp delay:
        value: 0.086667
      - 
        key: Late diagnostic update count:
        value: 0
      - 
        key: Early diagnostic update count:
        value: 0
      - 
        key: Zero seen diagnostic update count:
        value: 0

---
header: 
  seq: 19
  stamp: 
    secs: 1459415112
    nsecs: 248420411
  frame_id: ''
status: 
  - 
    level: 2
    name: sick_tim310: /scan topic status
    message: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
    hardware_id: ''
    values: []

---
header: 
  seq: 20
  stamp: 
    secs: 1459415112
    nsecs: 248683595
  frame_id: ''
status: 
  - 
    level: 2
    name: sick_tim310: /scan topic status
    message: No events recorded.; No data since last update.
    hardware_id: sRA 0 6 TiM31x E V2.51-21.08.15 sRA SerialNumber 8 16100082
    values: 
      - 
        key: Events in window
        value: 0
      - 
        key: Events since startup
        value: 0
      - 
        key: Duration of window (s)
        value: 10.012495
      - 
        key: Actual frequency (Hz)
        value: 0.000000
      - 
        key: Target frequency (Hz)
        value: 15.000000
      - 
        key: Minimum acceptable frequency (Hz)
        value: 13.500000
      - 
        key: Maximum acceptable frequency (Hz)
        value: 16.500000
      - 
        key: Earliest timestamp delay:
        value: 0.000000
      - 
        key: Latest timestamp delay:
        value: 0.000000
      - 
        key: Earliest acceptable timestamp delay:
        value: -1.000000
      - 
        key: Latest acceptable timestamp delay:
        value: 0.086667
      - 
        key: Late diagnostic update count:
        value: 0
      - 
        key: Early diagnostic update count:
        value: 0
      - 
        key: Zero seen diagnostic update count:
        value: 0

I am using the ROS Hydro version of the Sick_Tim3xx stack with a Sick_TIM310-1030000 (Sick Part Number: 1052627). We are operaing on a high end HP laptop running Ubuntu 12.04 LTS (I believe) and running ROS Hydro. To run the driver we are using the launch file by running "roslaunch sick_tim3xx sick_tim310.launch". We never get any valid outputs, all I see are errors. I don't have access to the log or the computer at the moment, I'll post them in a few hours when I get access to them, but from what I remember, the output is this over and over again:

LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT 
received more fields than expected (actual: 591, expected: 592), ignoring scan
are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310s01, 592 --> sick_tim310)

And when I run rviz it states that 100% of the data was lost and that I should look in the Debug log.

Any help you can provide will be most appreciated.

Hi, recently I am working with sick tim 510, dies this support tim 510?
both 232-interface and usb-interface? or only one of them?
thanks

Hi. I had the driver working back about 2 months ago, and now i came back to try and use it and i get a look up error. I run the package from within the within the package itself via roslaunch sicktim310.launch.

Here is my error:

scipio@scipio-HP-EliteBook-8770w:~/ros_edt/catkin_ws/src$ roslaunch sick_tim3xx sick_tim310.launch
... logging to /home/scipio/.ros/log/41175160-a412-11e3-a8f8-843a4bac3370/roslaunch-scipio-HP-EliteBook-8770w-12770.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://scipio-HP-EliteBook-8770w:40769/

SUMMARY

PARAMETERS

• /robot_description
• /rosdistro
• /rosversion
• /sick_tim310s01/publish_datagram

NODES
/
robot_state_publisher (robot_state_publisher/state_publisher)
sick_tim310s01 (sick_tim3xx/sick_tim310)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [12791]
process[sick_tim310s01-2]: started with pid [12809]
/home/scipio/ros/stacks/sick_tim3xx/bin/sick_tim310: symbol lookup error: /home/scipio/ros/stacks/sick_tim3xx/bin/sick_tim310: undefined symbol: _ZN3ros7console5printEPNS0_10FilterBaseEPN7log4cxx6LoggerENS0_6levels5LevelEPKciS9_S9_z
[sick_tim310s01-2] process has died [pid 12809, exit code 127, cmd /home/scipio/ros/stacks/sick_tim3xx/bin/sick_tim310 __name:=sick_tim310s01 __log:=/home/scipio/.ros/log/41175160-a412-11e3-a8f8-843a4bac3370/sick_tim310s01-2.log].
log file: /home/scipio/.ros/log/41175160-a412-11e3-a8f8-843a4bac3370/sick_tim310s01-2*.log

And i am not exactly sure even where to start to fix this. I looked around and havent found anyone else to have this problem.

My command:
~/catkin_ws/src/sick_tim$ roslaunch sick_tim sick_tim551_2050001.launch model:=urdf/example.urdf.xacro
Error:
SOPAS - Error stopping streaming scan data!
sick_tim driver exiting.
[ INFO] [1571081574.838301564, 10034.503000000]: Waiting 5 seconds for device to connect.
[ERROR] [1571081574.838361202, 10034.503000000]: Failed to connect to 130.215.223.255:2112
[FATAL] [1571081574.838383549, 10034.503000000]: Could not connect to host 130.215.223.255:2112
[FATAL] [1571081574.838399807, 10034.503000000]: Failed to init device: 1
[ERROR] [1571081574.838445681, 10034.503000000]: write error for command: �sEN LMDscandata 0�

I have added my whole sick_tim package. I also want it to spawn it in gazebo but i get the error
Error [parser_urdf.cc:3408] Unable to call parseURDF on robot model
Error [parser.cc:340] parse as old deprecated model file failed.

sick_tim.zip

Any help will be appreciated. Thanks

I'm trying to run this package installed via apt-get (ros-indigo-sick-tim 0.0.10-0trusty-20170107-080548-0800). However, when i try running a launch file i get:
/opt/ros/indigo/lib/sick_tim/sick_tim551_2050001: symbol lookup error: /opt/ros/indigo/lib/sick_tim/sick_tim551_2050001: undefined symbol: _ZN8sick_tim13SickTimCommon13rebootScannerEv

I can download the source, build it, and it runs fine. This seems to point to an issue with the way it installs. Has anyone seen this issue or know what is causing it?

I'm running ROS Indigo on Ubuntu 14.04. Thanks!

I have encountered an issue where the driver comes up before the device is ready, causing the driver to crash. In this scenario the computer and sensor (a TIM 551) are being powered on at the same time from the same power source. The log report states:

^[[31m[FATAL] [1423596153.512016982]: Failed to init device: 1^[[0m
^[[31m[ERROR] [1423596153.512052302]: sendSOPASCommand: socket not open^[[0m

SOPAS - Error stopping streaming scan data!
sick_tim driver exiting.

I can manually restart the node without issue. I also don't see this issue if the device is allowed to power up first, and then the computer. Setting respawn=true in the launch file allows the node to come up on a cold boot, but this is not ideal.

It seems that the sick_tim does not follow REP 117 http://www.ros.org/reps/rep-0117.html . It should report +inf for non-measurements instead of a range of 0.0.
This currently poses a problem when using it for navigation with move_base and the costmap_2d. The flag inf_is_valid does not affect it and thus obstacles are not removed properly.

I have fixed this for our sick tim 551, but currently do not have enough time to create a proper pull request for all sick tim versions.

Hello,

I tried to use the launch file sick_tim sick_tim551_2050001.launch to connect to my TIM361-2134101.

Then I get the error that only TiM3xx: firmware versions < V2.5 are supported.

I see two options but I would like to ask for help:

1. Are you going soon to provide support for firmware version V2.54?

2. Is it possible to downgrade the firmware version of the laser? I did not see the option in the SOPAS Engineering Tool V3

Thanks in advance for any help you can provide

Hello,
I have been using this package for sick tim 351 for a while. Its been working great with previous firmware 2.3 and 2.4, but recently 2.5 does not give the data gram packets. I have checked that the lidar works well in windows side and its fully functional.

Here is the error I get:

[ERROR] [1454715021.672259907]: sendSOPASCommand: failed attempt to read from socket: 125: Operation canceled
[ERROR] [1454715021.672337516]: get_datagram: no data available for read after 1000 ms

Please let me know about this.

Hello Everyone,
Does your package support TIM351-2134001?. Please let me know, thank you.

The sick_tim ROS driver seems to not set the correct timestamp for the /cloud topic while iterating through the layers when using the MRS1000. The correct timestamp is set while at the first layer, however it is then lost and the /cloud topic is published with a stamp of 0. The /scan topic has the correct timestamp.

This happens to us from time to time using a SICK TIM571-2050101 with the sick_tim551_2050001 node:

[ERROR] [/base_laser] [1489864434.459468694]: sendSOPASCommand: failed attempt to read from socket: 125: Operation canceled
[ERROR] [/base_laser] [1489864434.459550875]: get_datagram: no data available for read after 1000 ms
[ INFO] [/base_laser] [1489864435.459691127]: Failure - attempting to reconnect
[ INFO] [/base_laser] [1489864435.459795559]: Waiting 5 seconds for device to connect.
[ INFO] [/base_laser] [1489864435.460289137]: Succesfully connected to 10.2.98.50:2112
[ERROR] [/base_laser] [1489864436.460389179]: sendSOPASCommand: failed attempt to read from socket: 125: Operation canceled
[ERROR] [/base_laser] [1489864436.460447905]: sendSOPASCommand: no full reply available for read after 1s
[ERROR] [/base_laser] [1489864436.460482355]: SOPAS - Error reading variable 'DeviceIdent'.
[ERROR] [/base_laser] [1489864436.460515051]: sendSOPASCommand: socket not open
[ERROR] [/base_laser] [1489864436.460537546]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [/base_laser] [1489864436.460559206]: sendSOPASCommand: socket not open
[ERROR] [/base_laser] [1489864436.460577109]: SOPAS - Error reading variable 'FirmwareVersion'.
[ERROR] [/base_laser] [1489864436.460595450]: sendSOPASCommand: socket not open
[ERROR] [/base_laser] [1489864436.460612651]: SOPAS - Error starting to stream 'LMDscandata'.
[FATAL] [/base_laser] [1489864436.460631811]: Failed to init scanner: 1
[ERROR] [/base_laser] [1489864436.460645745]: Read Error when getting datagram: 1.
[ERROR] [/base_laser] [1489864436.460663384]: sendSOPASCommand: socket not open

SOPAS - Error stopping streaming scan data!
sick_tim driver exiting.
[ INFO] [/base_laser] [1489864436.484668416]: Waiting 5 seconds for device to connect.
[ INFO] [/base_laser] [1489864436.485854342]: Succesfully connected to 10.2.98.50:2112
[ERROR] [/base_laser] [1489864437.486015098]: sendSOPASCommand: failed attempt to read from socket: 125: Operation canceled
[ERROR] [/base_laser] [1489864437.486135199]: sendSOPASCommand: no full reply available for read after 1s
[ERROR] [/base_laser] [1489864437.486190036]: SOPAS - Error reading variable 'DeviceIdent'.
[ERROR] [/base_laser] [1489864437.486240601]: sendSOPASCommand: socket not open
[ERROR] [/base_laser] [1489864437.486278062]: SOPAS - Error reading variable 'SerialNumber'.
[ERROR] [/base_laser] [1489864437.486319564]: sendSOPASCommand: socket not open
[ERROR] [/base_laser] [1489864437.486361547]: SOPAS - Error reading variable 'FirmwareVersion'.
[ERROR] [/base_laser] [1489864437.486399070]: sendSOPASCommand: socket not open
[ERROR] [/base_laser] [1489864437.486431723]: SOPAS - Error starting to stream 'LMDscandata'.
[FATAL] [/base_laser] [1489864437.486464858]: Failed to init scanner: 1
[ERROR] [/base_laser] [1489864437.486491480]: sendSOPASCommand: socket not open

SOPAS - Error stopping streaming scan data!
sick_tim driver exiting.

The laser comes back up after a full power cycle of laser & host computer.
This looks like a networking issue to me but I don't know if it is on the laser side or on the host computer.
Do you have any idea on how to debug this further? Unfortunately the issue is not reproducible and has a very low occurrence frequency.

... seen quite often recently on calvin. Have fun

[ WARN] [/sick_tim310s01] [1386255980.596546426] received more fields than expected (actual: 1159, expected: 580), ignoring scan
[ WARN] [/sick_tim310s01] [1386255980.596622235] are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310, 592 --> sick_tim310s01)
[ WARN] [/sick_tim310s01] [1386255980.730190031] received more fields than expected (actual: 1159, expected: 580), ignoring scan
[ WARN] [/sick_tim310s01] [1386255980.730270762] are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310, 592 --> sick_tim310s01)
[ WARN] [/sick_tim310s01] [1386255982.663481049] received more fields than expected (actual: 1159, expected: 580), ignoring scan
[ WARN] [/sick_tim310s01] [1386255982.663575865] are you using the correct node? (124 --> sick_tim310_1130000m01, 306 --> sick_tim551_2050001, 580 --> sick_tim310, 592 --> sick_tim310s01)

I was trying to connect a Sick Tim571 to ubuntu 14.04 LTS 64 bit. The device connected and worked properly in windows/SOPAS ET. But I failed to connect it in ROS! I pinged the device successfully and the tcp/ip worked well in MATLAB too. I modified the time limit in the launch file and the IP address according to my network. But still , no success! I tried to find the answer in ROS wiki and in the ROS discussion page. But got no answer/reply.

Would be very kind of you, if you have some solution to the problem.

The device used 0.333 degree resolution, Ethernet connection, scanning frequency 15 Hz.

ping status ..

netcat -vt 10.120.6.9 2112
Connection to 10.120.6.9 2112 port [tcp/*] succeeded!

Below is the log file.

1432422685.497675320  Node Startup
1432422686.468419398 WARN [/tmp/buildd/ros-indigo-kdl-parser-1.11.6-0trusty-20150326-1841/src/kdl_parser.cpp:174(treeFromUrdfModel) [topics: /rosout] The root link laser_mount_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
1432422686.692652176 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:349(SickTimCommonUsb::init_device) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] No SICK TiM3xx devices connected!
1432422686.692888940 FATAL [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common.cpp:98(SickTimCommon::init) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] Failed to init device: 1
1432422687.693543826 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:266(SickTimCommonUsb::sendSOPASCommand) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] LIBUSB - device not open
1432422687.854591294 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:349(SickTimCommonUsb::init_device) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] No SICK TiM3xx devices connected!
1432422687.855758772 FATAL [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common.cpp:98(SickTimCommon::init) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] Failed to init device: 1
1432422688.856983239 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:266(SickTimCommonUsb::sendSOPASCommand) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] LIBUSB - device not open
1432422689.008165456 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:349(SickTimCommonUsb::init_device) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] No SICK TiM3xx devices connected!
1432422689.008960766 FATAL [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common.cpp:98(SickTimCommon::init) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] Failed to init device: 1
1432422690.010001793 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:266(SickTimCommonUsb::sendSOPASCommand) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] LIBUSB - device not open
1432422690.194069949 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:349(SickTimCommonUsb::init_device) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] No SICK TiM3xx devices connected!
1432422690.195063025 FATAL [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common.cpp:98(SickTimCommon::init) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] Failed to init device: 1
1432422691.196088846 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:266(SickTimCommonUsb::sendSOPASCommand) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] LIBUSB - device not open
1432422691.494045635 ERROR [/home/sacuar/catkin_ws/src/sick_tim-indigo/src/sick_tim_common_usb.cpp:349(SickTimCommonUsb::init_device) [topics: /rosout, /diagnostics, /sick_tim551_2050001/parameter_descriptions, /sick_tim551_2050001/parameter_updates, /scan] No SICK TiM3xx devices connected!

Hi,
I'am using ROS to communicate with sick_tim571. I launch roslaunch sick_tim sick_tim571_2050101.launch => Succesfuly connected to device).
I want to change the IP address of the sick_tim device with a ros command (launch an sick_tim...config.launch). someone has an idea how to do it, please?

Fariza

The driver should print an error when the device is:

• a TiM 3xx, and
• has firmware >= V2.50 (TODO: check this) .

As mentioned in #33 and #35 , the newer firmware versions don't support ranging, which leads to "Read error -7" or LIBUSB_ERROR_TIMEOUT error messages

The ROS driver page mentions that the package only supports the Sick Tim3xx. However the page also shows support for the Sick Tim5xx lower down on the page. This is quite confusing and should be updated.

Hello,

We are running a Sick TIM 561 with the ROS Kinetic driver.

On one PC running the driver, when there are no obstacles, outputs 0. On another, running the same code, it outputs inf. Any ideas why?

Everything is identical (code etc.) between the two setups other than the machine specs itself. One is a 3rd Gen I7 and the other is a 5th Gen I7.

Thanks!