From: Len White <len@le...>  20090416 14:32:12

Thanks for any ideas. 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 Serialspecific 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 UHG08LX(HiURG);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:UHG08LX[HiURG](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 UHG08LX(HiURG) Firmware: 1.0.02(26/Feb./2008) Protocol: SCIP 2.0 Serial: H0710175 Model: UHG08LX[HiURG](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 UHG08LX(HiURG);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:UHG08LX[HiURG](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 UHG08LX(HiURG) Firmware: 1.0.02(26/Feb./2008) Protocol: SCIP 2.0 Serial: H0710175 Model: UHG08LX[HiURG](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 