Re: [Playerstage-users] SICK setup woes

[Brian G. <ge...@ai...>]

On Wed, 14 Jul 2004, Bill Ulrich wrote:

> I did try the sicklms200 driver (tried it first, actually) and got:
> =======================
> ** Player v1.5 **  [TCP]
> 
> Parsing configuration file "sick_test.cfg"...
>   loading driver "sicklms200" as device "6665:laser:0"
> Done.
> listening on port 6665
> ** Player [port 6665] client accepted from 127.0.0.1 on socket 4 **
> Laser initialising (/dev/ttyUSB0)
> LASER: change TERM speed: 38400
> LASER: change TERM speed: 9600
> player error : sicklms200.cc:Setup():
>     connection failed
> 
> player warning : clientdata.cc:HandleRequests():
>     No permissions to configure 6:0
> ============================
> 
> So, as it didn't even give me the 'Lost ACK' msg, I switched to trying the
> sickpls.

Definitely stick with sicklms200; sickpls won't work with that device.

You should indeed be able to run at 500Kbps with an FTDI-SIO-based
USB-serial widget.  I've been doing that for a while.  However, if you're
having trouble, try a lower rate (e.g., 38400) and see what happens.

Another couple of things:

- Watch the lights on the SICK; do they change as Player tries to
  initialize the laser?  Make sure you've got one solid green light on
  before trying the initialization (power cycle the laser if you've got
  one red light, which can result from a failed initialization).

- Did you change the password on the SICK from the factory default?
  Looking at the code, I think that could cause the problem you're seeing.

- To ease debugging things like this, I usually use the 'alwayson' flag.
  This makes Player start the device right away, without the need for you
  to run a client program.  For example, in your .cfg file:

    laser:0
    (
     driver "sicklms200"
     pose [0.0 0.0 0.0]
     port "/dev/ttyUSB0"
     rate 500000
     alwayson 1
    )

        brian.

-- 
Brian P. Gerkey                    ge...@ai...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey