Re: [Gearbox-users] problem with Hokuyo UTM

[brice r. <bri...@gm...>]

OK I confirm this is working well with the UTM30LX. I think that your 
new way to parse the VV, PP and II command is a good solution.
And now I can see the laser result in playerv.
Thank you so much for your efforts


Geoffrey Biggs wrote:
> brice rebsamen wrote:
>> I could not reproduce the last problem reported... This morning it was
>> working as expected.
> 
> Probably old data in one of the buffers then. I don't have a good
> solution for this yet, as it's hard to know when the laser will spit out
> some left-over data, and the user may set an infinite timeout for the port.
> 
>> The checksum workaround you wrote yesterday was not working, because the
>> variables _sensorIsUTM30LX and _enableCheckSumWorkaround where not set
>> at the right place. Fixed now.
> 
> Thanks for the fix. I've added it to trunk. It was rather ineffective in
> the SCIP1 section..
> 
>> There is another problem in GetSensorInfo while parsing response to
>> command II: the UTM30LX does not send a SBPS or "USM Only" line. So I
>> added that we only look for that line if _sensorIsUTM30LX is false.
> 
> I decided that, rather than putting a special case for the UTM-30LX in,
> I would rearrange the code that reads the sensor info to be more
> flexible. Now it doesn't rely on the lines arriving in a specific order,
> and won't worry if a line is missing (it will use a default value from
> the manual, so I hope their manual has correct defaults). It will throw
> an exception when a line it doesn't know is encountered, but this can be
> disabled by calling HokuyoLaser::IgnoreUnknowns(true). I've tested this
> on my URG-04LX with no regressions; it should work on the UTM-30LX as well.
> 
>> Then I proceeded to try with player (svn version) and I got the
>> following error:
> 
> This reminds me that I'm supposed to fix a similar problem with setting
> the baud rate in the Player driver. I'll fix those soon (it's an easy
> fix). Keep an eye on the Player mailing list.
> 
> 
> Thanks very much for your work identifying these issues and testing the
> fixes for them.
> 
> Geoff