Here's the config:

driver

(

name "hokuyo_aist"

provides ["ranger:0"]

portopts "type=serial,device=/dev/ttyACM0,timeout=1"

verbose 1

)

And here's the output:

Registering driver

Player v.2.2.0

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].

* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,

* Nate Koenig, and contributors. Released under the GNU General Public License.

* Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you

* are welcome to redistribute it under certain conditions; see COPYING

* for details.

listening on 6665

Listening on ports: 6665

accepted TCP client 0 on port 6665, fd 5

HokuyoLaser::OpenWithProbing() Creating and opening port using options: type=serial,device=/dev/ttyACM0,timeout=1

HokuyoLaser::OpenWithProbing() Connected using serial connection.

Base status:

Debug level: 0 Timeout: 1.000000

Will block: 1 Permissions: rw

Serial-specific status:

Device: /dev/ttyACM0

Baud rate: 9600 Data bits: 8

Stop bits: 1 Parity: None

Hardware flow control: 0

Port is open

HokuyoLaser::GetAndSetSCIPVersion() Testing SCIP protocol version.

HokuyoLaser::SendCommand() Writing in SCIP1 mode. Command is V, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 2 bytes.

HokuyoLaser::ReadLine() Read 2 bytes.

HokuyoLaser::ReadLine() Line is V

HokuyoLaser::ReadLine() Reading exactly 2 bytes.

HokuyoLaser::ReadLine() Read 2 bytes.

HokuyoLaser::ReadLine() Line is 0

HokuyoLaser::SendCommand() Command response status: 0

HokuyoLaser::SkipLines() Skipping 2 lines.

HokuyoLaser::ReadLine() Reading up to 66 bytes.

HokuyoLaser::GetAndSetSCIPVersion() Timed out trying SCIP version 1, trying SCIP version 2.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is VV

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 00P

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 80 (P), given checksum = 80 (P)

HokuyoLaser::SendCommand() Command response status: 00

HokuyoLaser::SkipLines() Skipping 6 lines.

HokuyoLaser::GetAndSetSCIPVersion() Using SCIP version 2.

HokuyoLaser::GetDefaults() Getting default values.

HokuyoLaser::GetSensorInfo() Getting sensor information using SCIP version 2.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is VV

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 00P

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 80 (P), given checksum = 80 (P)

HokuyoLaser::SendCommand() Command response status: 00

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 33 bytes.

HokuyoLaser::ReadLine() Line is VEND:Hokuyo Automatic Co.,Ltd.;[

HokuyoLaser::ReadLineWithCheck() Considering 30 bytes for checksum from a line length of 32 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 91 ([), given checksum = 91 ([)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 39 bytes.

HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG-08LX(Hi-URG);2

HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from a line length of 38 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given checksum = 50 (2)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 28 bytes.

HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S

HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from a line length of 27 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given checksum = 83 (S)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 16 bytes.

HokuyoLaser::ReadLine() Line is PROT:SCIP 2.0;N

HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 78 (N), given checksum = 78 (N)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 16 bytes.

HokuyoLaser::ReadLine() Line is SERI:H0710175;J

HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given checksum = 74 (J)

HokuyoLaser::SkipLines() Skipping 1 lines.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is PP, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is PP

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 00P

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 80 (P), given checksum = 80 (P)

HokuyoLaser::SendCommand() Command response status: 00

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 52 bytes.

HokuyoLaser::ReadLine() Line is MODL:UHG-08LX[Hi-URG](Hokuyo Automatic Co., Ltd.);l

HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from a line length of 51 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given checksum = 108 (l)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 10 bytes.

HokuyoLaser::ReadLine() Line is DMIN:30;5

HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given checksum = 53 (5)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 13 bytes.

HokuyoLaser::ReadLine() Line is DMAX:11000;F

HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from a line length of 12 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given checksum = 70 (F)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 12 bytes.

HokuyoLaser::ReadLine() Line is ARES:1024;\

HokuyoLaser::ReadLineWithCheck() Considering 9 bytes for checksum from a line length of 11 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 92 (\), given checksum = 92 (\)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 9 bytes.

HokuyoLaser::ReadLine() Line is AMIN:0;?

HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a line length of 8 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given checksum = 63 (?)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 11 bytes.

HokuyoLaser::ReadLine() Line is AMAX:768;6

HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 54 (6), given checksum = 54 (6)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 11 bytes.

HokuyoLaser::ReadLine() Line is AFRT:384;6

HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 54 (6), given checksum = 54 (6)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 11 bytes.

HokuyoLaser::ReadLine() Line is SCAN:900;h

HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given checksum = 104 (h)

HokuyoLaser::SkipLines() Skipping 1 lines.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is II, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is II

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 00P

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 80 (P), given checksum = 80 (P)

HokuyoLaser::SendCommand() Command response status: 00

HokuyoLaser::SkipLines() Skipping 1 lines.

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 10 bytes.

HokuyoLaser::ReadLine() Line is LASR:ON;9

HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 57 (9), given checksum = 57 (9)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 50 bytes.

HokuyoLaser::ReadLine() Line is SCSP:Initial(900[rpm])<-Default setting by user;D

HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from a line length of 49 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given checksum = 68 (D)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 32 bytes.

HokuyoLaser::ReadLine() Line is MESM:Measuring by Normal Mode;0

HokuyoLaser::ReadLineWithCheck() Considering 29 bytes for checksum from a line length of 31 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 48 (0), given checksum = 48 (0)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 16 bytes.

HokuyoLaser::ReadLine() Line is SBPS:USB only;n

HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given checksum = 110 (n)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 14 bytes.

HokuyoLaser::ReadLine() Line is TIME:01A4D3;f

HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from a line length of 13 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 102 (f), given checksum = 102 (f)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 26 bytes.

HokuyoLaser::ReadLine() Line is STAT:Sensor works well.;8

HokuyoLaser::ReadLineWithCheck() Considering 23 bytes for checksum from a line length of 25 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 56 (8), given checksum = 56 (8)

HokuyoLaser::SkipLines() Skipping 1 lines.

Retrieved sensor info:

Vendor: Hokuyo Automatic Co.,Ltd.

Product: SOKUIKI Sensor UHG-08LX(Hi-URG)

Firmware: 1.0.02(26/Feb./2008)

Protocol: SCIP 2.0

Serial: H0710175

Model: UHG-08LX[Hi-URG](Hokuyo Automatic Co., Ltd.)

Mininum range: 30mm Maximum range: 11000mm

Steps in 360 degrees: 1024 Scanable steps: 769

First step: 0 Front step: 384 Last step: 768

Resolution: 0.00613592 radians/step

Minimum angle: -2.35619 radians Maximum angle: 2.35619 radians

Standard motor speed: 900rpm

Power status: On Measurement state: Measuring by Normal Mode

Motor speed: 900rpm (level 0) Baud rate: 0bps

Time stamp: 107731ms

Sensor diagnostic: Sensor works well.

HokuyoLaser::GetDefaults() Got default values: -2.35619 2.35619 0.00613592 0 768 384 11000

HokuyoLaser::GetSensorInfo() Getting sensor information using SCIP version 2.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is VV

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 00P

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 80 (P), given checksum = 80 (P)

HokuyoLaser::SendCommand() Command response status: 00

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 33 bytes.

HokuyoLaser::ReadLine() Line is VEND:Hokuyo Automatic Co.,Ltd.;[

HokuyoLaser::ReadLineWithCheck() Considering 30 bytes for checksum from a line length of 32 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 91 ([), given checksum = 91 ([)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 39 bytes.

HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG-08LX(Hi-URG);2

HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from a line length of 38 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given checksum = 50 (2)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 28 bytes.

HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S

HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from a line length of 27 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given checksum = 83 (S)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 16 bytes.

HokuyoLaser::ReadLine() Line is PROT:SCIP 2.0;N

HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 78 (N), given checksum = 78 (N)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 16 bytes.

HokuyoLaser::ReadLine() Line is SERI:H0710175;J

HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given checksum = 74 (J)

HokuyoLaser::SkipLines() Skipping 1 lines.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is PP, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is PP

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 00P

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 80 (P), given checksum = 80 (P)

HokuyoLaser::SendCommand() Command response status: 00

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 52 bytes.

HokuyoLaser::ReadLine() Line is MODL:UHG-08LX[Hi-URG](Hokuyo Automatic Co., Ltd.);l

HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from a line length of 51 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given checksum = 108 (l)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 10 bytes.

HokuyoLaser::ReadLine() Line is DMIN:30;5

HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given checksum = 53 (5)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 13 bytes.

HokuyoLaser::ReadLine() Line is DMAX:11000;F

HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from a line length of 12 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given checksum = 70 (F)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 12 bytes.

HokuyoLaser::ReadLine() Line is ARES:1024;\

HokuyoLaser::ReadLineWithCheck() Considering 9 bytes for checksum from a line length of 11 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 92 (\), given checksum = 92 (\)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 9 bytes.

HokuyoLaser::ReadLine() Line is AMIN:0;?

HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a line length of 8 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given checksum = 63 (?)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 11 bytes.

HokuyoLaser::ReadLine() Line is AMAX:768;6

HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 54 (6), given checksum = 54 (6)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 11 bytes.

HokuyoLaser::ReadLine() Line is AFRT:384;6

HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 54 (6), given checksum = 54 (6)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 11 bytes.

HokuyoLaser::ReadLine() Line is SCAN:900;h

HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given checksum = 104 (h)

HokuyoLaser::SkipLines() Skipping 1 lines.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is II, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is II

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 00P

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 80 (P), given checksum = 80 (P)

HokuyoLaser::SendCommand() Command response status: 00

HokuyoLaser::SkipLines() Skipping 1 lines.

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 10 bytes.

HokuyoLaser::ReadLine() Line is LASR:ON;9

HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 57 (9), given checksum = 57 (9)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 50 bytes.

HokuyoLaser::ReadLine() Line is SCSP:Initial(900[rpm])<-Default setting by user;D

HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from a line length of 49 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given checksum = 68 (D)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 32 bytes.

HokuyoLaser::ReadLine() Line is MESM:Measuring by Normal Mode;0

HokuyoLaser::ReadLineWithCheck() Considering 29 bytes for checksum from a line length of 31 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 48 (0), given checksum = 48 (0)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 16 bytes.

HokuyoLaser::ReadLine() Line is SBPS:USB only;n

HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given checksum = 110 (n)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 14 bytes.

HokuyoLaser::ReadLine() Line is TIME:01A59B;k

HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from a line length of 13 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 107 (k), given checksum = 107 (k)

HokuyoLaser::ReadLine() Reading up to 67 bytes.

HokuyoLaser::ReadLine() Read 26 bytes.

HokuyoLaser::ReadLine() Line is STAT:Sensor works well.;8

HokuyoLaser::ReadLineWithCheck() Considering 23 bytes for checksum from a line length of 25 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 56 (8), given checksum = 56 (8)

HokuyoLaser::SkipLines() Skipping 1 lines.

Retrieved sensor info:

Vendor: Hokuyo Automatic Co.,Ltd.

Product: SOKUIKI Sensor UHG-08LX(Hi-URG)

Firmware: 1.0.02(26/Feb./2008)

Protocol: SCIP 2.0

Serial: H0710175

Model: UHG-08LX[Hi-URG](Hokuyo Automatic Co., Ltd.)

Mininum range: 30mm Maximum range: 11000mm

Steps in 360 degrees: 1024 Scanable steps: 769

First step: 0 Front step: 384 Last step: 768

Resolution: 0.00613592 radians/step

Minimum angle: -2.35619 radians Maximum angle: 2.35619 radians

Standard motor speed: 900rpm

Power status: On Measurement state: Measuring by Normal Mode

Motor speed: 900rpm (level 0) Baud rate: 0bps

Time stamp: 107931ms

Sensor diagnostic: Sensor works well.

HokuyoLaser::SetPower() Turning laser on.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is BM, parameters length is 0

HokuyoLaser::ReadLine() Reading exactly 3 bytes.

HokuyoLaser::ReadLine() Read 3 bytes.

HokuyoLaser::ReadLine() Line is BM

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 02R

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 82 (R), given checksum = 82 (R)

HokuyoLaser::SendCommand() Command response status: 02

HokuyoLaser::SkipLines() Skipping 1 lines.

HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is SS, parameters length is 6

HokuyoLaser::ReadLine() Reading exactly 9 bytes.

HokuyoLaser::ReadLine() Read 9 bytes.

HokuyoLaser::ReadLine() Line is SS019200

HokuyoLaser::ReadLine() Reading exactly 4 bytes.

HokuyoLaser::ReadLine() Read 4 bytes.

HokuyoLaser::ReadLine() Line is 04T

HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes.

HokuyoLaser::ReadLineWithCheck() Calculated checksum = 84 (T), given checksum = 84 (T)

HokuyoLaser::SendCommand() Command response status: 04

HokuyoLaser::SkipLines() Skipping 1 lines.

error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to SS command: 04 Not compatible with the sensor model

error : Driver failed to Setup (-1)

^Cerror : Select called failed in File Watcher: 4 Interrupted system call

Quitting.

closing TCP connection to client 0 on port 6665