SICK TIM320-1131000 - V2.51 --> received less fields than expected fields (actual: 303, expected: 580), ignoring scan" about sick_tim HOT 8 CLOSED

You changed the "subscribe_datagram" parameter, but you need to set the "publish_datagram" parameter. The rosbags are missing the "datagram" topic (you can check for yourself: rosbag info 2020-04-29-22-08-44.bag).

from sick_tim.

Thanks, this looks good! I'll look into that bagfile as soon as I get to it, hopefully tomorrow.

from sick_tim.

Hi,
I got the lidar (TIM320-113) partially to work, but ran in the following error "received less fields than expected fields (actual: 303, expected: 580), ignoring scan".

Attached the output from running " roslaunch sick_tim sick_tim310s01.launch" and the received diagnostics from "rostopic echo /diagnostics".

I am operating the lidar with 18V, could this be the issue of the less received fields? - it is rated from 9V-28V

Has anyone seen this error before and has a tip how to solve it?

[ INFO] [1588181431.548263846]: SICK AG - TIM3XX - [1]
[ INFO] [1588181431.548773791]: ----------------------------------------
[ INFO] [1588181431.548788322]: Device Class: 0x0
[ INFO] [1588181431.548796551]: VendorID: 0x19a2
[ INFO] [1588181431.548803775]: ProductID: 0x5001
[ INFO] [1588181431.548810606]: ----------------------------------------
[ INFO] [1588181431.548823165]: Interfaces: 1
[ INFO] [1588181431.548831065]: ----------------------------------------
[ INFO] [1588181431.548838981]: Number of alternate settings: 1
[ INFO] [1588181431.548846083]: Interface number: 0
[ INFO] [1588181431.548854960]: Number of endpoints: 2
[ INFO] [1588181431.548863225]: Descriptor Type: 5
[ INFO] [1588181431.548877291]: EP Address: 129
[ INFO] [1588181431.548888457]: Descriptor Type: 5
[ INFO] [1588181431.548898322]: EP Address: 2
[ INFO] [1588181431.548911217]: ----------------------------------------
[ INFO] [1588181431.548957877]: LIBUSB - Claimed interface
[ WARN] [1588181432.086126372]: received less fields than expected fields (actual: 303, expected: 580), ignoring scan

What got it working so far was the comment #33

Files:
diagnostics.txt
lidar.txt

Thanks!

from sick_tim.

That's good news, getting it fully working shouldn't be too hard now! Could you set the publish_datagram parameter to true and record a rosbag of the datagram topic for me?

from sick_tim.

Hi,

thanks for the fast reply. =)
Is the rosbag-file supposed to look like that?
(edited)
2020-04-29-22-32-48.bag.txt

To record the rosbag I did the following steps:

• edit "sick_tim_common.cpp" -> set publish_datagram to true
  "pn.param("publish_datagram",publish_datagram,true);"_
• make_isolated for me "./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release"
• resource for me "source ~/ros_catkin/install_isolated/setup.bash"
• start roslaunch "sick_tim sick_tim310s01.launch"
• in separate terminal window
  _"rosbag record -a"

from sick_tim.

Thanks!! I have corrected it and edited the post. This is the rosbag file with publish_datagram true.
2020-04-29-22-32-48.bag.txt

from sick_tim.

I've looked into it, and the sick_tim551_2050001 node is actually able to read and process your datagrams. This is how I tested it:

roscore
rosparam set use_sim_time true
# now set the parameter `subscribe_datagram` in `sick_tim551_2050001.launch` to `true` (just for testing without a physical device!)
roslaunch sick_tim sick_tim551_2050001.launch
rosbag play --clock 2020-04-29-22-32-48.bag
rostopic echo /scan

from sick_tim.

Hey thanks a lot for the fast reply and your support! =)

I tested it the following way - and it seems to work great, although I receive a warning LIBUSB_ERROR_TIMEOUT:

-connected the lidar
-roslaunch sick_tim sick_tim551_2050001.launch
--than I get the following warning:
[ WARN] [1588348685.428370476]: LIBUSB - Read Error: LIBUSB_ERROR_TIMEOUT.
--I attached the corresponding rosbag 2020-05-01-18-02-45.bag.txt
sicktim_551_terminal.txt
-(in new terminal): rosrun rviz rviz

So it seems to work just fine.
Do I have to do something about the LIBUSB warning?
One more interesting info is the actual frequency which seems to be at (in Sopas it says 15Hz):
Actual frequency (Hz) 1.874993

from sick_tim.