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Driver for SICK LMS1xx. Based on https://github.com/RCPRG-ros-pkg/RCPRG_laser_drivers

CMake 2.05% C++ 73.08% Python 16.26% C 8.60%

lms1xx's Introduction

LMS1xx

ROS driver for the SICK LMS1xx family of laser scanners. Originally from RCPRG.

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lms1xx's Issues

Add a parameter for frame in the launch file

The driver appears to always publish to a frame called "laser", regardless of where you attach it in a URDF. Could you consider adding a parameter in the launch file to set the frame. This has confused software using laser data which depends on the TF tree

[Closed] Error due to faulty ROS installation

We are currently working with an LMS151 running the newest firmware 1.60. We were running both an LMS111 and an LMS151 with earlier firmware versions before and with none of the devices the following error occurred.
Initially, I had the problem that the lms1xx node would connect to the laser but fail to read/write from it because the new firmware has the binary communication for the Ethernet AUX-port enabled and SOPAS does not allow this to be changed. However, after switching TCP ports of the Ethernet AUX-Port and the Ethernet Host-port, which works in ASCII mode, the node now initializes successfully and displays the following behavior.
The node crashes whenever another node subscribes to the /scan topic. However, one correct message is published before the crash occurs.
When I subscribe to the topic before I launch the node, it crashes while publishing the scan message (line 126), with the error message

*** Error in '/home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node': malloc(): memory corruption: 0x0000000001494de0 ***

If I let the node run for a few seconds and then subscribe, it crashes while getting new data (line 114), with the error message

*** Error in '/home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node': free(): invalid next size (normal): 0x0000000001118f90 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x80a46)[0x7fb5045e5a46]
/home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node(_ZN5boost20checked_array_deleteIhEEvPT_+0x1f)[0x40fba6]
/home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node(_ZNK5boost21checked_array_deleterIhEclEPh+0x1c)[0x40f23a]
/home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node(_ZN5boost6detail18sp_counted_impl_pdIPhNS_21checked_array_deleterIhEEE7disposeEv+0x27)[0x41190d]
/opt/ros/hydro/lib/libroscpp.so(_ZN5boost12shared_arrayIhEaSERKS1_+0x4e)[0x7fb50577adfe]
/opt/ros/hydro/lib/libroscpp.so(_ZN3ros10Connection14writeTransportEv+0x2d3)[0x7fb50577e9e3]
/opt/ros/hydro/lib/libroscpp.so(_ZN3ros10Connection11onWriteableERKN5boost10shared_ptrINS_9TransportEEE+0x45)[0x7fb50577f1a5]
/opt/ros/hydro/lib/libroscpp.so(_ZNK5boost9function1IvRKNS_10shared_ptrIN3ros9TransportEEEEclES6_+0x18)[0x7fb5057d66a8]
/opt/ros/hydro/lib/libroscpp.so(_ZN3ros12TransportTCP12socketUpdateEi+0xa3)[0x7fb5057d5bb3]
/opt/ros/hydro/lib/libroscpp.so(_ZN3ros7PollSet6updateEi+0x404)[0x7fb505804b44]
/opt/ros/hydro/lib/libroscpp.so(_ZN3ros11PollManager10threadFuncEv+0x48)[0x7fb5057ad348]
/usr/lib/libboost_thread.so.1.49.0(+0xe6e9)[0x7fb503f496e9]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x7f8e)[0x7fb504e4ef8e]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7fb50465fa0d]
======= Memory map: ========
00400000-00416000 r-xp 00000000 08:06 415964                             /home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node
00616000-00617000 r--p 00016000 08:06 415964                             /home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node
00617000-00618000 rw-p 00017000 08:06 415964                             /home/lorenz/catkin_ws/devel/lib/lms1xx/LMS1xx_node
01102000-01123000 rw-p 00000000 00:00 0                                  [heap]
7fb4e8000000-7fb4e8021000 rw-p 00000000 00:00 0 
7fb4e8021000-7fb4ec000000 ---p 00000000 00:00 0 
7fb4f0000000-7fb4f0021000 rw-p 00000000 00:00 0 
7fb4f0021000-7fb4f4000000 ---p 00000000 00:00 0 
7fb4f4000000-7fb4f4021000 rw-p 00000000 00:00 0 
7fb4f4021000-7fb4f8000000 ---p 00000000 00:00 0 
7fb4f8000000-7fb4f8021000 rw-p 00000000 00:00 0 
7fb4f8021000-7fb4fc000000 ---p 00000000 00:00 0 
7fb4fd61c000-7fb4fd61d000 ---p 00000000 00:00 0 
7fb4fd61d000-7fb4fde1d000 rw-p 00000000 00:00 0                          [stack:6139]
7fb4fde1d000-7fb4fde1e000 ---p 00000000 00:00 0 
7fb4fde1e000-7fb4fe61e000 rw-p 00000000 00:00 0                          [stack:6134]
7fb4fe61e000-7fb4fe61f000 ---p 00000000 00:00 0 
7fb4fe61f000-7fb4fee1f000 rw-p 00000000 00:00 0                          [stack:6133]
7fb4fee1f000-7fb4fee20000 ---p 00000000 00:00 0 
7fb4fee20000-7fb4ff620000 rw-p 00000000 00:00 0                          [stack:6132]
7fb4ff620000-7fb4ff62c000 r-xp 00000000 08:06 1072771                    /lib/x86_64-linux-gnu/libnss_files-2.17.so
7fb4ff62c000-7fb4ff82b000 ---p 0000c000 08:06 1072771                    /lib/x86_64-linux-gnu/libnss_files-2.17.so
7fb4ff82b000-7fb4ff82c000 r--p 0000b000 08:06 1072771                    /lib/x86_64-linux-gnu/libnss_files-2.17.so
7fb4ff82c000-7fb4ff82d000 rw-p 0000c000 08:06 1072771                    /lib/x86_64-linux-gnu/libnss_files-2.17.so
7fb4ff82d000-7fb4fff4e000 r--p 00000000 08:06 268835                     /usr/lib/locale/locale-archive
7fb4fff4e000-7fb5010bd000 r-xp 00000000 08:06 275998                     /usr/lib/x86_64-linux-gnu/libicudata.so.48.1.1
7fb5010bd000-7fb5012bc000 ---p 0116f000 08:06 275998                     /usr/lib/x86_64-linux-gnu/libicudata.so.48.1.1
7fb5012bc000-7fb5012bd000 r--p 0116e000 08:06 275998                     /usr/lib/x86_64-linux-gnu/libicudata.so.48.1.1
7fb5012bd000-7fb5012be000 rw-p 0116f000 08:06 275998                     /usr/lib/x86_64-linux-gnu/libicudata.so.48.1.1
7fb5012be000-7fb5012c1000 r-xp 00000000 08:06 1072770                    /lib/x86_64-linux-gnu/libdl-2.17.so
7fb5012c1000-7fb5014c0000 ---p 00003000 08:06 1072770                    /lib/x86_64-linux-gnu/libdl-2.17.so
7fb5014c0000-7fb5014c1000 r--p 00002000 08:06 1072770                    /lib/x86_64-linux-gnu/libdl-2.17.so
7fb5014c1000-7fb5014c2000 rw-p 00003000 08:06 1072770                    /lib/x86_64-linux-gnu/libdl-2.17.so
7fb5014c2000-7fb5014c6000 r-xp 00000000 08:06 1050698                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7fb5014c6000-7fb5016c5000 ---p 00004000 08:06 1050698                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7fb5016c5000-7fb5016c6000 r--p 00003000 08:06 1050698                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7fb5016c6000-7fb5016c7000 rw-p 00004000 08:06 1050698                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7fb5016c7000-7fb5016ed000 r-xp 00000000 08:06 1050570                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7fb5016ed000-7fb5018ed000 ---p 00026000 08:06 1050570                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7fb5018ed000-7fb5018ef000 r--p 00026000 08:06 1050570                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7fb5018ef000-7fb5018f0000 rw-p 00028000 08:06 1050570                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
7fb5018f0000-7fb5018fa000 r-xp 00000000 08:06 1072775                    /lib/x86_64-linux-gnu/libcrypt-2.17.so
7fb5018fa000-7fb501af9000 ---p 0000a000 08:06 1072775                    /lib/x86_64-linux-gnu/libcrypt-2.17.so
7fb501af9000-7fb501afa000 r--p 00009000 08:06 1072775                    /lib/x86_64-linux-gnu/libcrypt-2.17.so
7fb501afa000-7fb501afb000 rw-p 0000a000 08:06 1072775                    /lib/x86_64-linux-gnu/libcrypt-2.17.so
7fb501afb000-7fb501b29000 rw-p 00000000 00:00 0 
7fb501b29000-7fb501ce2000 r-xp 00000000 08:06 276000                     /usr/lib/x86_64-linux-gnu/libicui18n.so.48.1.1
7fb501ce2000-7fb501ee1000 ---p 001b9000 08:06 276000                     /usr/lib/x86_64-linux-gnu/libicui18n.so.48.1.1
7fb501ee1000-7fb501eee000 r--p 001b8000 08:06 276000                     /usr/lib/x86_64-linux-gnu/libicui18n.so.48.1.1
7fb501eee000-7fb501eef000 rw-p 001c5000 08:06 276000                     /usr/lib/x86_64-linux-gnu/libicui18n.so.48.1.1
7fb501eef000-7fb502045000 r-xp 00000000 08:06 276001                     /usr/lib/x86_64-linux-gnu/libicuuc.so.48.1.1
7fb502045000-7fb502244000 ---p 00156000 08:06 276001                     /usr/lib/x86_64-linux-gnu/libicuuc.so.48.1.1
7fb502244000-7fb502255000 r--p 00155000 08:06 276001                     /usr/lib/x86_64-linux-gnu/libicuuc.so.48.1.1
7fb502255000-7fb502256000 rw-p 00166000 08:06 276001                     /usr/lib/x86_64-linux-gnu/libicuuc.so.48.1.1
7fb502256000-7fb50225a000 rw-p 00000000 00:00 0 
7fb50225a000-7fb502291000 r-xp 00000000 08:06 281434                     /usr/lib/libapr-1.so.0.4.6
7fb502291000-7fb502490000 ---p 00037000 08:06 281434                     /usr/lib/libapr-1.so.0.4.6
7fb502490000-7fb502491000 r--p 00036000 08:06 281434                     /usr/lib/libapr-1.so.0.4.6
7fb502491000-7fb502492000 rw-p 00037000 08:06 281434                     /usr/lib/libapr-1.so.0.4.6Aborted (core dumped)

I'm running Hydro on Ubuntu 13.04.

Quesiton: Code fail to compile in ROS Melodic

Question: I failed to compile the code in master in an Ubuntu Bionic distribution with ROS Melodic because all calls to logWarn, logDebug failed. Here's an example:

In file included from /home/developer/jackal_ws/src/LMS1xx/include/LMS1xx/LMS1xx.h:27:0,
                 from /home/developer/jackal_ws/src/LMS1xx/src/LMS1xx.cpp:36:
/home/developer/jackal_ws/src/LMS1xx/include/LMS1xx/lms_buffer.h: In member function 'void LMSBuffer::readFrom(int)':
/home/developer/jackal_ws/src/LMS1xx/include/LMS1xx/lms_buffer.h:54:7: error: 'logWarn' was not declared in this scope
       logWarn("Buffer read() returned error.");

I have a patch that fixes the issue (essentially adding the CONSOLE_BRIDGE_ prefix to all of them. Do you have any plans for supporting ROS Melodic? Should I just submit a pull request against master? Are you considering a separate release branch for Melodic maybe?

topic name as parameter

the LMS1xx_node publish to fixed scan topic, that should be change to a parameter

replace this part

// parameters	
  std::string host;	
  std::string frame_id;	
  bool inf_range;	
  int port;	
  ros::init(argc, argv, "lms1xx");	
  ros::NodeHandle nh;	
  ros::NodeHandle n("~");	
  ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("scan", 1);	
  n.param<std::string>("host", host, "192.168.1.2");	
  n.param<std::string>("frame_id", frame_id, "laser");	
  n.param<bool>("publish_min_range_as_inf", inf_range, false);	
  n.param<int>("port", port, 2111);

with this

// parameters
  std::string host;
  std::string frame_id;
  std::string topic_name;
  bool inf_range;
  int port;
  ros::init(argc, argv, "lms1xx");
  ros::NodeHandle nh;
  ros::NodeHandle n("~");
  
  n.param<std::string>("topic_name", topic_name, "scan");
  n.param<std::string>("host", host, "192.168.1.2");
  n.param<std::string>("frame_id", frame_id, "laser");
  n.param<bool>("publish_min_range_as_inf", inf_range, false);
  n.param<int>("port", port, 2111);

  ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>(topic_name, 1);

Connection Issue

I can not get to work

Indigo release?

Hello!

First of all, I would like to thank you for using my version of LMS1xx.
It was mostly for testing, so I'm sorry for all the bugs and the weird stuff... :)

I was wondering if you were planning to release an Indigo version soon.

Thanks!

Mathieu

Gazebo gravity is switched off for whole robot

Hi, is there a reason why this model turns gravity off for gazebo?

LMS1xx/urdf/sick_lms1xx.urdf.xacro

Line 58 in d80907e

This is a problem for robots which include this sensor because gravity gets turned off for the whole robot.
(see this issue: husky/husky#181)

Kind regards!

LMS111 Connection

I can not speak English well, but I need your help.

I want to connect lidar sensor to the ROS.

When I connect the sensor to the Windows SICK engineering tool, the connection is good.

But I'm having trouble connecting from Linux.

When I run the < rosrun lms1xx find_sick > command, only "No lasers found" is output.

The hardware uses ODROID-C2, and the operating system uses ubuntu 16.04 MATE, kinetic version.

When using the ifconfig command :

odroid@odroid64:~/Desktop$ ifconfig

eth0 Link encap:Ethernet HWaddr 00:1e:06:33:a9:b3

      UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1

      RX packets:0 errors:0 dropped:0 overruns:0 frame:0

      TX packets:590 errors:0 dropped:0 overruns:0 carrier:0

      collisions:0 txqueuelen:1000 

      RX bytes:0 (0.0 B)  TX bytes:115364 (115.3 KB)

      Interrupt:40

lo Link encap:Local Loopback

      inet addr:127.0.0.1  Mask:255.0.0.0

      inet6 addr: ::1/128 Scope:Host

      UP LOOPBACK RUNNING  MTU:4096  Metric:1

      RX packets:5591 errors:0 dropped:0 overruns:0 frame:0

      TX packets:5591 errors:0 dropped:0 overruns:0 carrier:0

      collisions:0 txqueuelen:0 

      RX bytes:718117 (718.1 KB)  TX bytes:718117 (718.1 KB)

wlan0 Link encap:Ethernet HWaddr 7c:dd:90:ad:b6:82

      inet addr:192.168.43.87  Bcast:192.168.43.255  Mask:255.255.255.0

      inet6 addr: fe80::7edd:90ff:fead:b682/64 Scope:Link

      UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1

      RX packets:2672 errors:0 dropped:0 overruns:0 frame:0

      TX packets:1507 errors:0 dropped:0 overruns:0 carrier:0

      collisions:0 txqueuelen:1000 

      RX bytes:3683081 (3.6 MB)  TX bytes:146926 (146.9 KB)

In bashrc, I have network settings like "export ROS_MASTER_URI=http://localhost:11311" and "export ROS_HOSTNAME=localhost".

Help Me ㅠ_ㅠ :-<..

Add scripts to find unit, program IP address

SOPAS is able to do these things using UDP broadcast tricks. For example, the following is three instances of the UDP payload to "discover" LIDARs on the local network segments:

10:00:00:08:ff:ff:ff:ff:ff:ff:41:2e:b5:ee:01:00:0a:d3:37:05:ff:ff:ff:00

10:00:00:08:ff:ff:ff:ff:ff:ff:3b:1e:a9:a0:01:00:0a:d3:37:05:ff:ff:ff:00

10:00:00:08:ff:ff:ff:ff:ff:ff:36:27:b9:d6:01:00:0a:d3:37:05:ff:ff:ff:00

                                                IP          netmask

This message is transmitted to 255.255.255.255, with a src and dest port of 30718. Full PCAP of these interactions coming soon.

Version 0.1.1 not publishing at full rate

On a robot I'm using with an LMS111, when I use the public package (ros-hydro-lms1xx-0.1.1-0precise-20141016-1522-+0000) the data on the LIDAR topic is published at about 0.4 Hz (and drops out occasionally).
When I download the latest source from git and compile it, the topic shows up at 50 Hz and everything works as expected.

I would appreciate if the latest code could be released in binary form to avoid having to check out master.
I'm also happy to provide any debugging information necessary to determine why this issue is fixed by the commits on September 23, as it's not immediately obvious to me why those changes resolve the issue.

when rostopic echo /scan,driver will crash,and show error log:free(): invalid next size (normal)

useful infomation:

device:lms15x
platform:ubuntu1604 kinetic ros

code change
if i do not change the freq from 5000 to 2500,will not continue to run

if (cfg.scaningFrequency != 2500)

action:

1:roslaunch lms1xx LMS1xx.launch
and the driver will run ok all the time,befor i run the next echo cmd
2:in another terminal:rostopic echo /scan
i just can get data like this,and the driver will crash

header: 
  seq: 526
  stamp: 
    secs: 1544108749
    nsecs: 564679663
  frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.35619449615
angle_increment: 0.00872664619237
time_increment: 5.55555561732e-05
scan_time: 0.0399999991059
range_min: 0.00999999977648
range_max: 20.0
ranges: [0.05900000035762787, 0.03799999877810478, 0.032999999821186066, 0.04100000113248825, 0.04800000041723251, 0.035999998450279236, 0.04699999839067459, 0.052000001072883606, 0.04699999839067459, 0.05900000035762787, 0.041999999433755875, 0.04699999839067459, 0.04500000178813934, 0.05700000002980232, 0.05400000140070915, 0.05299999937415123, 0.05299999937415123, 0.05700000002980232, 0.05000000074505806, 0.052000001072883606, 0.04399999976158142, 0.04899999871850014, 0.05299999937415123, 0.05700000002980232, 0.050999999046325684, 0.05700000002980232, 0.06499999761581421, 0.03999999910593033, 0.05299999937415123, 0.03700000047683716, 0.050999999046325684, 0.039000000804662704, 0.052000001072883606, 0.0689999982714653, 0.0729999989271164, 0.057999998331069946, 0.05400000140070915, 0.05900000035762787, 0.04399999976158142, 0.04800000041723251, 0.06499999761581421, 0.05999999865889549, 0.05900000035762787, 0.054999999701976776, 0.06499999761581421, 0.06199999898672104, 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4:and the driver crash,and the error log is bellow

*** Error in `/home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node': free(): invalid next size (normal): 0x000000000202efe0 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f9615be17e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7f9615bea37a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f9615bee53c]
/home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node(_ZN5boost20checked_array_deleteIhEEvPT_+0x1f)[0x412d6b]
/home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node(_ZNK5boost21checked_array_deleterIhEclEPh+0x1c)[0x412a80]
/home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node(_ZN5boost6detail18sp_counted_impl_pdIPhNS_21checked_array_deleterIhEEE7disposeEv+0x27)[0x413905]
/opt/ros/kinetic/lib/libroscpp.so(+0x9965a)[0x7f9616bc765a]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros10Connection14writeTransportEv+0x685)[0x7f9616bc9785]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros12TransportTCP12socketUpdateEi+0x18c)[0x7f9616c4181c]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros7PollSet6updateEi+0x320)[0x7f9616c7e4f0]
/opt/ros/kinetic/lib/libroscpp.so(_ZN3ros11PollManager10threadFuncEv+0x35)[0x7f9616c03ac5]
/usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0(+0x115d5)[0x7f96151255d5]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x76ba)[0x7f9614cf66ba]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7f9615c7141d]
======= Memory map: ========
00400000-00418000 r-xp 00000000 08:05 18752311                           /home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node
00618000-00619000 r--p 00018000 08:05 18752311                           /home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node
00619000-0061a000 rw-p 00019000 08:05 18752311                           /home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node
0200b000-0203d000 rw-p 00000000 00:00 0                                  [heap]
7f95f8000000-7f95f8021000 rw-p 00000000 00:00 0
7f95f8021000-7f95fc000000 ---p 00000000 00:00 0
7f9600000000-7f9600021000 rw-p 00000000 00:00 0
7f9600021000-7f9604000000 ---p 00000000 00:00 0
7f9604000000-7f9604021000 rw-p 00000000 00:00 0
7f9604021000-7f9608000000 ---p 00000000 00:00 0
7f9608000000-7f9608021000 rw-p 00000000 00:00 0
7f9608021000-7f960c000000 ---p 00000000 00:00 0
7f960e946000-7f960e947000 ---p 00000000 00:00 0
7f960e947000-7f960f147000 rw-p 00000000 00:00 0
7f960f147000-7f960f148000 ---p 00000000 00:00 0
7f960f148000-7f960f948000 rw-p 00000000 00:00 0
7f960f948000-7f960f949000 ---p 00000000 00:00 0
7f960f949000-7f9610149000 rw-p 00000000 00:00 0
7f9610149000-7f961014a000 ---p 00000000 00:00 0
7f961014a000-7f961094a000 rw-p 00000000 00:00 0
7f961094a000-7f9610955000 r-xp 00000000 08:05 5243581                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f9610955000-7f9610b54000 ---p 0000b000 08:05 5243581                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f9610b54000-7f9610b55000 r--p 0000a000 08:05 5243581                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f9610b55000-7f9610b56000 rw-p 0000b000 08:05 5243581                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7f9610b56000-7f9610b5c000 rw-p 00000000 00:00 0
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7f9612412000-7f9612611000 ---p 018b6000 08:05 2369500                    /usr/lib/x86_64-linux-gnu/libicudata.so.55.1
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7f9612613000-7f9612639000 r-xp 00000000 08:05 5247467                    /lib/x86_64-linux-gnu/libexpat.so.1.6.0
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7f9612845000-7f9612a44000 ---p 00009000 08:05 5243587                    /lib/x86_64-linux-gnu/libcrypt-2.23.so
7f9612a44000-7f9612a45000 r--p 00008000 08:05 5243587                    /lib/x86_64-linux-gnu/libcrypt-2.23.so
7f9612a45000-7f9612a46000 rw-p 00009000 08:05 5243587                    /lib/x86_64-linux-gnu/libcrypt-2.23.so
7f9612a46000-7f9612a74000 rw-p 00000000 00:00 0
7f9612a74000-7f9612a77000 r-xp 00000000 08:05 5243568                    /lib/x86_64-linux-gnu/libdl-2.23.so
7f9612a77000-7f9612c76000 ---p 00003000 08:05 5243568                    /lib/x86_64-linux-gnu/libdl-2.23.so
7f9612c76000-7f9612c77000 r--p 00002000 08:05 5243568                    /lib/x86_64-linux-gnu/libdl-2.23.so
7f9612c77000-7f9612c78000 rw-p 00003000 08:05 5243568                    /lib/x86_64-linux-gnu/libdl-2.23.so
7f9612c78000-7f9612c7c000 r-xp 00000000 08:05 5243106                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f9612c7c000-7f9612e7b000 ---p 00004000 08:05 5243106                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f9612e7b000-7f9612e7c000 r--p 00003000 08:05 5243106                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f9612e7c000-7f9612e7d000 rw-p 00004000 08:05 5243106                    /lib/x86_64-linux-gnu/libuuid.so.1.3.0
7f9612e7d000-7f9612ffc000 r-xp 00000000 08:05 2369504                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f9612ffc000-7f96131fc000 ---p 0017f000 08:05 2369504                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f96131fc000-7f961320c000 r--p 0017f000 08:05 2369504                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f961320c000-7f961320d000 rw-p 0018f000 08:05 2369504                    /usr/lib/x86_64-linux-gnu/libicuuc.so.55.1
7f961320d000-7f9613211000 rw-p 00000000 00:00 0
7f9613211000-7f9613463000 r-xp 00000000 08:05 2369501                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f9613463000-7f9613663000 ---p 00252000 08:05 2369501                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f9613663000-7f9613672000 r--p 00252000 08:05 2369501                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f9613672000-7f9613673000 rw-p 00261000 08:05 2369501                    /usr/lib/x86_64-linux-gnu/libicui18n.so.55.1
7f9613673000-7f9613699000 r-xp 00000000 08:05 2369544                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f9613699000-7f9613898000 ---p 00026000 08:05 2369544                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f9613898000-7f9613899000 r--p 00025000 08:05 2369544                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f9613899000-7f961389a000 rw-p 00026000 08:05 2369544                    /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0.5.4
7f961389a000-7f96138cb000 r-xp 00000000 08:05 2369530                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f96138cb000-7f9613aca000 ---p 00031000 08:05 2369530                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f9613aca000-7f9613acb000 r--p 00030000 08:05 2369530                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f9613acb000-7f9613acc000 rw-p 00031000 08:05 2369530                    /usr/lib/x86_64-linux-gnu/libapr-1.so.0.5.2
7f9613acc000-7f9613ad3000 r-xp 00000000 08:05 5243586                    /lib/x86_64-linux-gnu/librt-2.23.so
7f9613ad3000-7f9613cd2000 ---p 00007000 08:05 5243586                    /lib/x86_64-linux-gnu/librt-2.23.so
7f9613cd2000-7f9613cd3000 r--p 00006000 08:05 5243586                    /lib/x86_64-linux-gnu/librt-2.23.so
7f9613cd3000-7f9613cd4000 rw-p 00007000 08:05 5243586                    /lib/x86_64-linux-gnu/librt-2.23.so
7f9613cd4000-7f9613dd7000 r-xp 00000000 08:05 2362492                    /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0
7f9613dd7000-7f9613fd7000 ---p 00103000 08:05 2362492                    /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0
7f9613fd7000-7f9613fdb000 r--p 00103000 08:05 2362492                    /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0
7f9613fdb000-7f9613fdc000 rw-p 00107000 08:05 2362492                    /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.58.0
7f9613fdc000-7f961418b000 r-xp 00000000 08:05 2370219                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f961418b000-7f961438a000 ---p 001af000 08:05 2370219                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f961438a000-7f96143b0000 r--p 001ae000 08:05 2370219                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f96143b0000-7f96143b1000 rw-p 001d4000 08:05 2370219                    /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10.0.0
7f96143b1000-7f96143b3000 rw-p 00000000 00:00 0
7f96143b3000-7f96143b4000 r-xp 00000000 08:05 7737996                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f96143b4000-7f96145b3000 ---p 00001000 08:05 7737996                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f96145b3000-7f96145b4000 r--p 00000000 08:05 7737996                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f96145b4000-7f96145b5000 rw-p 00001000 08:05 7737996                    /opt/ros/kinetic/lib/librosconsole_backend_interface.so
7f96145b5000-7f96145cb000 r-xp 00000000 08:05 7737999                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f96145cb000-7f96147cb000 ---p 00016000 08:05 7737999                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f96147cb000-7f96147cd000 r--p 00016000 08:05 7737999                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f96147cd000-7f96147ce000 rw-p 00018000 08:05 7737999                    /opt/ros/kinetic/lib/librosconsole_log4cxx.so
7f96147ce000-7f96148d6000 r-xp 00000000 08:05 5243541                    /lib/x86_64-linux-gnu/libm-2.23.so
7f96148d6000-7f9614ad5000 ---p 00108000 08:05 5243541                    /lib/x86_64-linux-gnu/libm-2.23.so
7f9614ad5000-7f9614ad6000 r--p 00107000 08:05 5243541                    /lib/x86_64-linux-gnu/libm-2.23.so
7f9614ad6000-7f9614ad7000 rw-p 00108000 08:05 5243541                    /lib/x86_64-linux-gnu/libm-2.23.so
7f9614ad7000-7f9614aee000 r-xp 00000000 08:05 2367396                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f9614aee000-7f9614ced000 ---p 00017000 08:05 2367396                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f9614ced000-7f9614cee000 r--p 00016000 08:05 2367396                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f9614cee000-7f9614cef000 rw-p 00017000 08:05 2367396                    /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
7f9614cef000-7f9614d07000 r-xp 00000000 08:05 5243548                    /lib/x86_64-linux-gnu/libpthread-2.23.so
7f9614d07000-7f9614f06000 ---p 00018000 08:05 5243548                    /lib/x86_64-linux-gnu/libpthread-2.23.so
7f9614f06000-7f9614f07000 r--p 00017000 08:05 5243548                    /lib/x86_64-linux-gnu/libpthread-2.23.so
7f9614f07000-7f9614f08000 rw-p 00018000 08:05 5243548                    /lib/x86_64-linux-gnu/libpthread-2.23.so
7f9614f08000-7f9614f0c000 rw-p 00000000 00:00 0
7f9614f0c000-7f9614f12000 r-xp 00000000 08:05 2369640                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f9614f12000-7f9615112000 ---p 00006000 08:05 2369640                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f9615112000-7f9615113000 r--p 00006000 08:05 2369640                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f9615113000-7f9615114000 rw-p 00007000 08:05 2369640                    /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0
7f9615114000-7f9615138000 r-xp 00000000 08:05 2362493                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f9615138000-7f9615337000 ---p 00024000 08:05 2362493                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f9615337000-7f9615339000 r--p 00023000 08:05 2362493                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f9615339000-7f961533a000 rw-p 00025000 08:05 2362493                    /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
7f961533a000-7f961533d000 r-xp 00000000 08:05 2367398                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f961533d000-7f961553c000 ---p 00003000 08:05 2367398                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f961553c000-7f961553d000 r--p 00002000 08:05 2367398                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f961553d000-7f961553e000 rw-p 00003000 08:05 2367398                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7f961553e000-7f9615545000 r-xp 00000000 08:05 7737854                    /opt/ros/kinetic/lib/libcpp_common.so
7f9615545000-7f9615744000 ---p 00007000 08:05 7737854                    /opt/ros/kinetic/lib/libcpp_common.so
7f9615744000-7f9615745000 r--p 00006000 08:05 7737854                    /opt/ros/kinetic/lib/libcpp_common.so
7f9615745000-7f9615746000 rw-p 00007000 08:05 7737854                    /opt/ros/kinetic/lib/libcpp_common.so
7f9615746000-7f9615764000 r-xp 00000000 08:05 7738104                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f9615764000-7f9615963000 ---p 0001e000 08:05 7738104                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f9615963000-7f9615964000 r--p 0001d000 08:05 7738104                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f9615964000-7f9615965000 rw-p 0001e000 08:05 7738104                    /opt/ros/kinetic/lib/libxmlrpcpp.so
7f9615965000-7f9615969000 r-xp 00000000 08:05 2362652                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f9615969000-7f9615b68000 ---p 00004000 08:05 2362652                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f9615b68000-7f9615b69000 r--p 00003000 08:05 2362652                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f9615b69000-7f9615b6a000 rw-p 00004000 08:05 2362652                    /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2
7f9615b6a000-7f9615d2a000 r-xp 00000000 08:05 5243550                    /lib/x86_64-linux-gnu/libc-2.23.so
7f9615d2a000-7f9615f2a000 ---p 001c0000 08:05 5243550                    /lib/x86_64-linux-gnu/libc-2.23.so
7f9615f2a000-7f9615f2e000 r--p 001c0000 08:05 5243550                    /lib/x86_64-linux-gnu/libc-2.23.so
7f9615f2e000-7f9615f30000 rw-p 001c4000 08:05 5243550                    /lib/x86_64-linux-gnu/libc-2.23.so
7f9615f30000-7f9615f34000 rw-p 00000000 00:00 0
7f9615f34000-7f9615f4a000 r-xp 00000000 08:05 5247474                    /lib/x86_64-linux-gnu/libgcc_s.so.1
7f9615f4a000-7f9616149000 ---p 00016000 08:05 5247474                    /lib/x86_64-linux-gnu/libgcc_s.so.1
7f9616149000-7f961614a000 rw-p 00015000 08:05 5247474                    /lib/x86_64-linux-gnu/libgcc_s.so.1
7f961614a000-7f96162bc000 r-xp 00000000 08:05 2359369                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f96162bc000-7f96164bc000 ---p 00172000 08:05 2359369                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f96164bc000-7f96164c6000 r--p 00172000 08:05 2359369                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f96164c6000-7f96164c8000 rw-p 0017c000 08:05 2359369                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7f96164c8000-7f96164cc000 rw-p 00000000 00:00 0
7f96164cc000-7f96164f7000 r-xp 00000000 08:05 7737866                    /opt/ros/kinetic/lib/librostime.so
7f96164f7000-7f96166f6000 ---p 0002b000 08:05 7737866                    /opt/ros/kinetic/lib/librostime.so
7f96166f6000-7f96166f8000 r--p 0002a000 08:05 7737866                    /opt/ros/kinetic/lib/librostime.so
7f96166f8000-7f96166f9000 rw-p 0002c000 08:05 7737866                    /opt/ros/kinetic/lib/librostime.so
7f96166f9000-7f96166fb000 r-xp 00000000 08:05 7737887                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f96166fb000-7f96168fa000 ---p 00002000 08:05 7737887                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f96168fa000-7f96168fb000 r--p 00001000 08:05 7737887                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f96168fb000-7f96168fc000 rw-p 00002000 08:05 7737887                    /opt/ros/kinetic/lib/libroscpp_serialization.so
7f96168fc000-7f961692b000 r-xp 00000000 08:05 7737997                    /opt/ros/kinetic/lib/librosconsole.so
7f961692b000-7f9616b2b000 ---p 0002f000 08:05 7737997                    /opt/ros/kinetic/lib/librosconsole.so
7f9616b2b000-7f9616b2d000 r--p 0002f000 08:05 7737997                    /opt/ros/kinetic/lib/librosconsole.so
7f9616b2d000-7f9616b2e000 rw-p 00031000 08:05 7737997                    /opt/ros/kinetic/lib/librosconsole.so
7f9616b2e000-7f9616cc0000 r-xp 00000000 08:05 7740804                    /opt/ros/kinetic/lib/libroscpp.so
7f9616cc0000-7f9616ebf000 ---p 00192000 08:05 7740804                    /opt/ros/kinetic/lib/libroscpp.so
7f9616ebf000-7f9616ec6000 r--p 00191000 08:05 7740804                    /opt/ros/kinetic/lib/libroscpp.so
7f9616ec6000-7f9616eca000 rw-p 00198000 08:05 7740804                    /opt/ros/kinetic/lib/libroscpp.so
7f9616eca000-7f9616ece000 r-xp 00000000 08:05 18752236                   /home/yuhs/workspace/work/ing_src/devel/lib/libLMS1xx.so
7f9616ece000-7f96170cd000 ---p 00004000 08:05 18752236                   /home/yuhs/workspace/work/ing_src/devel/lib/libLMS1xx.so
7f96170cd000-7f96170ce000 r--p 00003000 08:05 18752236                   /home/yuhs/workspace/work/ing_src/devel/lib/libLMS1xx.so
7f96170ce000-7f96170cf000 rw-p 00004000 08:05 18752236                   /home/yuhs/workspace/work/ing_src/devel/lib/libLMS1xx.so
7f96170cf000-7f96170f5000 r-xp 00000000 08:05 5243544                    /lib/x86_64-linux-gnu/ld-2.23.so
7f9617286000-7f961729c000 rw-p 00000000 00:00 0
7f96172df000-7f96172f4000 rw-p 00000000 00:00 0
7f96172f4000-7f96172f5000 r--p 00025000 08:05 5243544                    /lib/x86_64-linux-gnu/ld-2.23.so
7f96172f5000-7f96172f6000 rw-p 00026000 08:05 5243544                    /lib/x86_64-linux-gnu/ld-2.23.so
7f96172f6000-7f96172f7000 rw-p 00000000 00:00 0
7ffd6f15a000-7ffd6f17c000 rw-p 00000000 00:00 0                          [stack]
7ffd6f1c6000-7ffd6f1c9000 r--p 00000000 00:00 0                          [vvar]
7ffd6f1c9000-7ffd6f1cb000 r-xp 00000000 00:00 0                          [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0                  [vsyscall]
[lms1xx-2] process has died [pid 10761, exit code -6, cmd /home/yuhs/workspace/work/ing_src/devel/lib/lms1xx/LMS1xx_node __name:=lms1xx __log:=/home/yuhs/.ros/log/5cffd126-f968-11e8-a91e-f83441c830c5/lms1xx-2.log].
log file: /home/yuhs/.ros/log/5cffd126-f968-11e8-a91e-f83441c830c5/lms1xx-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

E: Unable to locate package ros-melodic-lms1xx

Hi,

I'm not able to install the package using sudo apt-get install.

Best,

Invalid Packet Recieved

Lately I've been getting the error:

[ERROR] [1519772074.615482421]: Laser timed out on delivering scan, attempting to reinitialize.
Warning: invalid packet recieved
at line 109 in /tmp/binarydeb/ros-indigo-lms1xx-0.1.5/src/LMS1xx.cpp

I also sometimes get this error when I shut down the node:

Error: invalid packet recieved
at line 236 in /tmp/binarydeb/ros-indigo-lms1xx-0.1.5/src/LMS1xx.cpp

After a bit of tinkering, I've determined the code likes to crash when the message times out, so I've added if(type == -1) break; at line 340 and 420 in https://github.com/mrwrock/LMS1xx/blob/master/src/LMS1xx.cpp#L420
and commeted line 206 in https://github.com/mrwrock/LMS1xx/blob/master/src/LMS1xx_node.cpp#L206 so the code continues to run after a timeout

Measurement stopped with LMS100

When using this package to connect to Sick LMS100 laser, node stops publishing data after a few minutes. I have searched through documentation and forum to find a way to get a right configuration because I'm suspecting of wrong IP in the ethernet connection of my machine:

Sick LMS100 IP: 169.254.168.96, PORT: 2111
My computer running ROS Indigo has ethernet connection with laser set to MANUAL with IP: 169.254.168.97, MASK: 255.255.255.0, GATEWAY: 169.254.168.96

Sorry to write my doubts here, but I can't find a way to setup SICK LMS100 correctly to work with ROS, so any help would be very welcomed.

LMS151 always reports 5000 for output range angle resolution

LMS1xx/src/LMS1xx_node.cpp

Line 94 in e529960

 scan_msg.angle_increment = static_cast<double>(outputRange.angleResolution / 10000.0 * DEG2RAD); 

SOPAS didn't appear to allow changing the output angle range value, it only allows changing the start and stop angle. I suggest using cfg.scaningFrequency instead of outputRange.angleResolution.

This was the only way I was able to operate my LMS151 at 0.25deg/25Hz

Missing diagnostic messages to broadcast the state of the laser

As suggest by the best practices, all driver should publish diagnostic_msgs/DiagnosticArray.

Does not support 25Hz scanning frequency

LMS1xx/src/LMS1xx_node.cpp

Line 75 in e529960

if (cfg.scaningFrequency != 5000)

I suggest the change to:
if (cfg.scaningFrequency != 5000 && cfg.scaningFrequency != 2500)

lms1xx gazebo depedency

Was looking through Husky sim recently, agonizing over whether to keep the complete _description and _gazebo separation.

Which led me to realize that if lms1xx is going to provide a URDF with a gazebo tag, it should really propagate the gazebo_plugins dependency. Thoughts @mikepurvis @tonybaltovski?

Would it make sense to provide separate lms1xx_driver and lms1xx_description packages? The nice thing is that existing rosdeps on lmx1xx (if it is redefined as a metapackage), will still pull in all packages, and provide a nice deprecation notice saying that you shouldn't depend on metapackages.

Zeros in the scan data

I get a lot of 0's in the scans. I do not have anything blocking the LiDAR as well. I changed the resolution to mm by removing the multiplication with *0.001.
Any reason why there are 0's?

Thanks!

ROS 2 Port

Release 0.1.2 doesn't publish data

When running on upstart, driver connects to sensor but doesn't publish /scan data. Taking the driver down and bringing it back up will cause /scan to start publishing as expected.

Likely catches the sensor in an inconsistent boot-up state.

Lines are curving

We have an issue in the way rviz displays the laser scans:

Well the room is not curved! In SOPAS, the curves do not appear.
We are using a SICK LMS111.

We tried to find the root cause, but we are getting out of ideas now...

How to make in test fold ?

Hi. I'm using your LMS1xx project it's very good for me to test my LMS151 Lidar sensor.
I've done with yours ...
linux@linux-MXE5400:~/catkin_ws/src/LMS1xx/build$ roslaunch lms1xx LMS1xx.launch host:=192.168.1.4
... logging to /home/linux/.ros/log/4583eebe-4051-11e7-880e-0030644956ab/roslaunch-linux-MXE5400-17150.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://localhost:33058/

SUMMARY

PARAMETERS

/lms1xx/host: 192.168.1.4
/rosdistro: indigo
/rosversion: 1.11.21

NODES
/
lms1xx (lms1xx/LMS1xx_node)

auto-starting new master
process[master]: started with pid [17162]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4583eebe-4051-11e7-880e-0030644956ab
process[rosout-1]: started with pid [17175]
started core service [/rosout]
process[lms1xx-2]: started with pid [17184]

but I'd like to know about some questions as below.

how can I compile test/test_buffer.cpp
I just run rosrun lms1xx find_sick but the result is as below
~/catkin_ws/src/LMS1xx$ rosrun lms1xx find_sick but
No lasers found.
could you answer me these two question.

linux@linux-MXE5400:/catkin_ws/src/LMS1xx/build$ source devel/setup.bash
linux@linux-MXE5400:/catkin_ws/src/LMS1xx/build$ rosrun lms1xx LMS1xx_node

[rosrun] Couldn't find executable named LMS1xx_node below /home/linux/catkin_ws/src/LMS1xx

[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/linux/catkin_ws/src/LMS1xx/build/devel/lib/lms1xx/LMS1xx_node

rosrun lms1xx LMS1xx_node

[rosrun] Couldn't find executable named LMS1xx_node below /home/linux/catkin_ws/src/LMS1xx
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/linux/catkin_ws/src/LMS1xx/build/devel/lib/lms1xx/LMS1xx_node

regards.
Lim
ps)
[email protected] My own email address.

Unable to get laser output range. Retrying

Hello!
I get "Unable to get laser output range. Retrying" when i change resolution to 0.25 and frequency 25 through SOPAS.
Can i solve it? Also, it does not read the angle range that i stored previously in SOPAS. So i use laser filters.
Thank you

Node doesn't shut down cleanly

Seems to need to be sigkilled.

LMS1xx OSX Build Failure

Whenever I clone this repository in my Catkin workspace and try to build it using ./src/catkin/bin/catkin_make_isolated --install

I get the following error:

Scanning dependencies of target LMS1xx
[ 25%] Building CXX object CMakeFiles/LMS1xx.dir/src/LMS1xx.cpp.o
In file included from /Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:36:
In file included from /Users/akashp1997/catkin_ws/src/lms1xx/include/LMS1xx/LMS1xx.h:27:
/Users/akashp1997/catkin_ws/src/lms1xx/include/LMS1xx/lms_buffer.h:49:7: error:
      use of undeclared identifier 'logDebug'
      logDebug("Read %d bytes from fd, total length is %d.", ret, total_length_);
      ^
/Users/akashp1997/catkin_ws/src/lms1xx/include/LMS1xx/lms_buffer.h:54:7: error:
      use of undeclared identifier 'logWarn'
      logWarn("Buffer read() returned error.");
      ^
/Users/akashp1997/catkin_ws/src/lms1xx/include/LMS1xx/lms_buffer.h:63:7: error:
      use of undeclared identifier 'logDebug'
      logDebug("Empty buffer, nothing to return.");
      ^
/Users/akashp1997/catkin_ws/src/lms1xx/include/LMS1xx/lms_buffer.h:74:7: error:
      use of undeclared identifier 'logWarn'
      logWarn("No STX found, dropping %d bytes from buffer.", total_length_);
      ^
/Users/akashp1997/catkin_ws/src/lms1xx/include/LMS1xx/lms_buffer.h:80:7: error:
      use of undeclared identifier 'logWarn'
      logWarn("Shifting buffer, dropping %d bytes, %d bytes remain.",
      ^
/Users/akashp1997/catkin_ws/src/lms1xx/include/LMS1xx/lms_buffer.h:90:7: error:
      use of undeclared identifier 'logDebug'
      logDebug("No ETX found, nothing to return.");
      ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:51:5: error: use of
      undeclared identifier 'logDebug'
    logDebug("Creating non-blocking socket.");
    ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:60:7: error: use of
      undeclared identifier 'logDebug'
      logDebug("Connecting socket to laser.");
      ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:66:9: error: use of
      undeclared identifier 'logDebug'
        logDebug("Connected succeeded.");
        ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:95:5: error: use of
      undeclared identifier 'logWarn'
    logWarn("invalid packet recieved");
    ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:97:3: error: use of
      undeclared identifier 'logDebug'
  logDebug("RX: %s", buf);
  ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:109:5: error: use of
      undeclared identifier 'logWarn'
    logWarn("invalid packet recieved");
    ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:111:3: error: use of
      undeclared identifier 'logDebug'
  logDebug("RX: %s", buf);
  ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:123:5: error: use of
      undeclared identifier 'logWarn'
    logWarn("invalid packet recieved");
    ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:125:3: error: use of
      undeclared identifier 'logDebug'
  logDebug("RX: %s", buf);
  ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:159:5: error: use of
      undeclared identifier 'logWarn'
    logWarn("invalid packet recieved");
    ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:161:3: error: use of
      undeclared identifier 'logDebug'
  logDebug("RX: %s", buf);
  ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:174:5: error: use of
      undeclared identifier 'logWarn'
    logWarn("invalid packet recieved");
    ^
/Users/akashp1997/catkin_ws/src/lms1xx/src/LMS1xx.cpp:176:3: error: use of
      undeclared identifier 'logDebug'
  logDebug("RX: %s", buf);
  ^
fatal error: too many errors emitted, stopping now [-ferror-limit=]
20 errors generated.
make[2]: *** [CMakeFiles/LMS1xx.dir/src/LMS1xx.cpp.o] Error 1
make[1]: *** [CMakeFiles/LMS1xx.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'lms1xx':
  Command '['/Users/akashp1997/catkin_ws/devel_isolated/asv_sensors/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2.

Reproduce this error by running:
==> cd /Users/akashp1997/catkin_ws/build_isolated/lms1xx && /Users/akashp1997/catkin_ws/devel_isolated/asv_sensors/env.sh make -j4 -l4

Command failed, exiting.

Hang after "Connected to laser."

I am trying to interface with my LMS111-10100 using ros-indigo-lms1xx by launching the LMS1xx.launch file.

Here is the output

[INFO] [timestamp]: Connected to laser at : 10.0.0.140
[INFO] [timestamp]: Connected to laser.
[DEBUG] [timestamp]: Connection::drop(2)
[DEBUG] [timestamp]: TCP socket [10] closed
[DEBUG] [timestamp]: Connection::drop(0)
[DEBUG] [timestamp]: Connection::drop(2)
[DEBUG] [timestamp]: Connection::drop(2)

Using GDB it appears that the issue originates in the getData() function, but I am unsure.

Any ideas?

Node doesn't exit or reconnect after communication errors

The driver is lock if there is a communication issue (ex., the cable is disconnected). The node won't report an error, exit, nor reconnect if the communication is reestablished.

Also, the method isConnected() is not looking actively if the laser is connected, but only report a state written by the connect(std::string host, int port) method.

I'm not sure if the correct behavior should be to kill the node or to report the error using ROS_ERROR and try to reconnect in the background.

Connection Issue

Hi guys,

I'm new in ROS and i need your help about connecting LMS111 with ROS.
I already follow the instruction for connecting this device,but I'm still have a problem.

When i run this node using rosrun the error like this appear :

[ INFO] [1440558207.561479097]: Waiting for laser to initialize...
[ERROR] [1440558207.561542850]: accept() on socket [6] failed with error [Too many open files]
[ INFO] [1440558207.562252842]: Waiting for laser to initialize...
[ERROR] [1440558207.562315450]: accept() on socket [6] failed with error [Too many open files]
[ INFO] [1440558207.562370538]: Waiting for laser to initialize...
[ERROR] [1440558207.562431228]: accept() on socket [6] failed with error [Too many open files]

When i open the LMS1xx_node at /my_ws/src/lms1xx/src/LMS1xx_node.cpp and edit this parameter with my parameter in SOPAS, I'm still get error.

//check if laser is fully initialized, else reconnect
//assuming fully initialized => scaningFrequency=5000
if (cfg.scaningFrequency != 5000) {
laser.disconnect();
ROS_INFO("Waiting for laser to initialize...");
}

} while (!laser.isConnected() || cfg.scaningFrequency != 5000);

if (laser.isConnected()) {
  ROS_INFO("Connected to laser.");

There some step where i miss ?

Thanks before.

Attribute Error

I ran
rosrun lms1xx find_sick
command on a fresh install. It throws an exception:
AttributeError: 'str' object has no attribute 'decode'
for line 43, UDP_DATA_discovery = '...'decode('hex').

Transform if(debug) printf calls to use ROS_DEBUG instead

Regarding: "$ rosrun lms1xx LMS1xx_node" connection to device failed.

Hi, i'm unable to connect my device after i execute LMS1xx_node.cpp. I followed exactly what you have done, and change the IP address accordingly. i'm able to ping the IP address. However, it the program only shows the following:
[ INFO] [1412662631.827312965]: Connecting to laser at : 169.254.2.255
[ERROR] [1412662631.829781896]: Connection to device failed (in red)

Can anyone help me to solve this issue? This is very important to the contribution of my project. Thank you.

LMS151

Hi,

I am using the ros lms1xx and connecting to an LMS151.

When I run roslaunch lms1xx this is the output:

SUMMARY

PARAMETERS

/lms1xx/host: 192.168.101.140
/rosdistro: indigo
/rosversion: 1.11.13

NODES
/
lms1xx (lms1xx/LMS1xx_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[lms1xx-1]: started with pid [3556]
[ INFO] [1435348934.523143206]: Connecting to laser at : 192.168.101.140

[ INFO] [1435347051.295016303]: Waiting for laser to initialize...
[ INFO] [1435347051.307409169]: Waiting for laser to initialize...
...

Launch file
<launch
<arg name="host" default="192.168.101.140" /
<node pkg="lms1xx" name="lms1xx" type="LMS1xx_node" output="screen"
<param name="host" value="$(arg host)" /
</node
</launch

Any idea?

Thanks,

Matt

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