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View Code? Open in Web Editor NEWInterface with SICK LMS-1xx series LIDAR sensors with openFrameworks
License: Other
Interface with SICK LMS-1xx series LIDAR sensors with openFrameworks
License: Other
I have a problem when connecting 3 LMS100 together. After a while (10-30s) it stops reading data from the socket. Sometime only 1 LMS is still working and the other 2 are freezed. Then it will also freeze. If I use the stdparser version it doesn't crash the application, it just doesn't update the point cloud. If I use the master version it crashes in one of the laser thread.
I have no problem with only 2 LMS out of 3 (any combination).
The strange thing is that it seems to be also linked to which window is on top. If I launch the software and everything work and then I just switch back to XCode and back again to my software, the LMS will certainly freeze.
I narrowed down where the communication doesn't work:
In stdparser version: It receives a LMS_STATE_STX command in LMSParser.cpp but then I have an unknown command line 63-65. So I stay in the while(true) loop line 262 in LMS1xx.cpp
In master version: It crashes line 450 on sscanf(tok, "%X", &dat) in LMS1xx.cpp
Has anyone tried 3 sensors together with this addon?
i think if you aren't changing the scan settings, then startup should be almost instant.
you can check whether the lms is on by pinging it, so ofxSick should do this before calling connect()
.
libs/LMS1xx.cpp, line 176:
"sWN LMDscandatacfg", cfg.outputChannel, cfg.remission ? 1 : 0,
should be:
"sMN LMDscandatacfg", cfg.outputChannel, cfg.remission ? 1 : 0,
Telegrams beginning with "sWN" are undefined according to the Developer's Guide I'm looking at.
When I make this change, our LMS500 returns an sFA 1
error code rather than nothing at all. Onward to the next breakpoint!
i'm not sure what status 3, or status 4 actually "means". but it's not clear from the documentation either.
using ofxCv::Tracker https://github.com/kylemcdonald/ofxCv/blob/master/libs/ofxCv/include/ofxCv/Tracker.h
you can manually set the startAngle and stopAngle when scanning, and this should be used both during the initialization and during the polar to cartesian conversion.
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