Re: [Playerstage-users] Problems with laserscanner

[Nils K. <nke...@uo...>]

Hi,

Brian Gerkey wrote:
> I'm surprised that this problem is still occurring, given recent
> changes that were made to make the initialization procedure more
> robust.

first thanks for your answer but i already resolved the problem (i was too
lazy to write an email in time ;-)

> A workaround: try adding the following options to the sicklms200
> driver block:
>    retry_limit 10
>    alwayson 1

The main problem - besides a minor configuration issue - was about the
startup sequence of the scanner. There was very often a timeout in
SickLMS200::SetLaserSpeed, thus resulting in an unusable laser scanner.
I fixed the problem by changing the following line from

len = ReadFromLaser(packet, sizeof(packet), true, 20000);

to

len = ReadFromLaser(packet, sizeof(packet), true, -1);

Now the scanner works as expected. I'm wondering if there's nobody
else with that problem... Can there be any side effects from that
change?

> The driver will try 10 times to initialize the laser before giving
> up, and it will do this immediately when you start Player.[..]
> Also, you'll know right away whether you have a connection, because
> Player will exit if the sicklms200 driver fails to initialize the laser.

I set the retry_limit to zero but that setting doesn't affect the
behaviour in SetLaserSpeed because it only tries once. In addition
player did not exit even in case of an unsuccessful StartUp sequence.

Regards, Nils.