From: Sunny L. <su...@cs...> - 2009-02-26 07:35:14
|
Hi all, Has anyone had success using this laser with Player 2.0.x? This laser uses the SCIP v2 protocol, so the urglaser driver should work fine with it. However, I'm getting sporadic readings. playerv displays readings that never change, and below is the output from playerprint: calling connect done #min max res count range_res -85 85.5 0.25 682 0 #range bearing intensity 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0 .......repeats #min max res count range_res -85 85.5 0.25 682 0 #range bearing intensity 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0........repeats ..... ..... I have also tried hokuyo_aist from Gearbox and Player 2.1.2, but the driver insists there is a checksum error of some sort. Our last laser was the URG-04LX, which worked fine with the same code/configuration. Has anyone had experience with this laser? regards, Sunny |
From: Edward R. <er...@gm...> - 2009-02-26 13:46:57
|
I am under the impression urglaser will be deprecated and the newer driver hokuyo_aist should be used. Perhaps you should try that instead? Edward On Thu, Feb 26, 2009 at 9:44 AM, Sunny Leung <su...@cs...> wrote: > Hi all, > > Has anyone had success using this laser with Player 2.0.x? This laser > uses the SCIP v2 protocol, so the urglaser driver should work fine with > it. However, I'm getting sporadic readings. playerv displays readings > that never change, and below is the output from playerprint: > > calling connect > done > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 > -84.25 0 .......repeats > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 > -84.25 0........repeats > ..... > ..... > > I have also tried hokuyo_aist from Gearbox and Player 2.1.2, but the > driver insists there is a checksum error of some sort. > > Our last laser was the URG-04LX, which worked fine with the same > code/configuration. > > > Has anyone had experience with this laser? > > > > regards, > Sunny > > > > ------------------------------------------------------------------------------ > Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, > CA > -OSBC tackles the biggest issue in open source: Open Sourcing the > Enterprise > -Strategies to boost innovation and cut costs with open source > participation > -Receive a $600 discount off the registration fee with the source code: > SFAD > http://p.sf.net/sfu/XcvMzF8H > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: Geoffrey B. <gb...@ki...> - 2009-02-26 15:06:29
|
I don't think the urglaser driver has ever been used with the UTM-30LX. That driver does not implement the complete SCIP v2 protocol, so it may be missing something. It's also old and hopefully going to be removed in the next version of Player. What specific error does the hokuyo_aist driver give? If possible, add "debug=3" to your portoptions for the driver. That will give you significantly more output that you can post here (you might want to use tee to save it). You can also try switching the port type to "seriallog" and posting the two log files it produces. We can use those to step through the driver code and see exactly what's going wrong. Geoff Sunny Leung wrote: > Hi all, > > Has anyone had success using this laser with Player 2.0.x? This laser > uses the SCIP v2 protocol, so the urglaser driver should work fine with > it. However, I'm getting sporadic readings. playerv displays readings > that never change, and below is the output from playerprint: > > calling connect > done > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0 .......repeats > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0........repeats > ..... > ..... > > I have also tried hokuyo_aist from Gearbox and Player 2.1.2, but the > driver insists there is a checksum error of some sort. > > Our last laser was the URG-04LX, which worked fine with the same > code/configuration. > > > Has anyone had experience with this laser? |
From: Sunny L. <su...@cs...> - 2009-03-03 00:59:35
|
Thanks for the info - I'll give it a go. Another question first: is it possible to get hokuyo_aist under Player 2.0.x? I'm under the impression its only for 2.1 - which is a bit of a showstopper for us, as we're relying on Javaclient which is only compatible with Player 2.0.x at the moment. regards, Sunny Geoffrey Biggs wrote: > I don't think the urglaser driver has ever been used with the UTM-30LX. > That driver does not implement the complete SCIP v2 protocol, so it may > be missing something. It's also old and hopefully going to be removed in > the next version of Player. > > What specific error does the hokuyo_aist driver give? If possible, add > "debug=3" to your portoptions for the driver. That will give you > significantly more output that you can post here (you might want to use > tee to save it). You can also try switching the port type to "seriallog" > and posting the two log files it produces. We can use those to step > through the driver code and see exactly what's going wrong. > > Geoff > > Sunny Leung wrote: >> Hi all, >> >> Has anyone had success using this laser with Player 2.0.x? This laser >> uses the SCIP v2 protocol, so the urglaser driver should work fine with >> it. However, I'm getting sporadic readings. playerv displays readings >> that never change, and below is the output from playerprint: >> >> calling connect >> done >> #min max res count range_res >> -85 85.5 0.25 682 0 >> #range bearing intensity >> 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0 .......repeats >> #min max res count range_res >> -85 85.5 0.25 682 0 >> #range bearing intensity >> 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0........repeats >> ..... >> ..... >> >> I have also tried hokuyo_aist from Gearbox and Player 2.1.2, but the >> driver insists there is a checksum error of some sort. >> >> Our last laser was the URG-04LX, which worked fine with the same >> code/configuration. >> >> >> Has anyone had experience with this laser? > > ------------------------------------------------------------------------------ > Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, CA > -OSBC tackles the biggest issue in open source: Open Sourcing the Enterprise > -Strategies to boost innovation and cut costs with open source participation > -Receive a $600 discount off the registration fee with the source code: SFAD > http://p.sf.net/sfu/XcvMzF8H > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: gbiggs <gb...@ki...> - 2009-04-15 07:08:42
|
There have been a couple of issues reported recently with the hokuyo_aist driver, specifically when using it with the UTM-30LX. With the help of Brice for testing, I've implemented fixes for these issues: 1) A workaround has been implemented for the checksum problem. The UTM-30LX's unique approach to checksum calculation is now handled. 2) Fatal errors caused by the driver trying to use features that are actually unsupported by the laser in use have been changed to warnings. Details of these changes shouldn't matter to a user of Player, but if you're interested, there is discussion on the gearbox-users mailing list. With these changes, the driver should work with the UTM-30LX properly now. Some changes have also been made in the underlying library that improve its flexibility. Geoff |
From: gbiggs <gb...@ki...> - 2009-06-17 05:28:38
|
The driver is successfully getting data from the device. The problem is that it's only getting one range reading. It turns out that the recent change I made, giving the driver a default min and max angle of 0 radians, wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, respectively. It's unlikely that a laser scanner is going to return greater than a 2pi scan, so these will get reduced to the minimum and maximum angles the laser reports that it is capable of at driver start. Geoff Jonathan Paxman wrote: > > I have a Hokuyo UTM-30LX, appears to be working correctly with the > urglaser driver, but not with the hokuyo-aist driver. I can subscribe > to the ranger interface using playerv with no obvious error, but no data > is displayed in playerv. The ranger interface displays correctly if I > use the urglaser and lasertoranger drivers. > > I have the latest SVN versions of Gearbox and Player. The > hokuyo_aist_example appears to work correctly. See attached for the > player/driver debug output. > > Any ideas would be appreciated. > > Jonathan |
From: Jonathan P. <jon...@gm...> - 2009-06-17 05:52:57
|
Thanks, that did the trick. Incidentally, is there a plan for the writelog/readlog drivers to support the ranger interface? Jonathan On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki...> wrote: > The driver is successfully getting data from the device. The problem is > that it's only getting one range reading. It turns out that the recent > change I made, giving the driver a default min and max angle of 0 radians, > wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, > respectively. It's unlikely that a laser scanner is going to return greater > than a 2pi scan, so these will get reduced to the minimum and maximum angles > the laser reports that it is capable of at driver start. > > Geoff > > > Jonathan Paxman wrote: > >> >> I have a Hokuyo UTM-30LX, appears to be working correctly with the >> urglaser driver, but not with the hokuyo-aist driver. I can subscribe to >> the ranger interface using playerv with no obvious error, but no data is >> displayed in playerv. The ranger interface displays correctly if I use the >> urglaser and lasertoranger drivers. >> >> I have the latest SVN versions of Gearbox and Player. The >> hokuyo_aist_example appears to work correctly. See attached for the >> player/driver debug output. >> >> Any ideas would be appreciated. >> >> Jonathan >> > > |
From: gbiggs <gb...@ki...> - 2009-07-22 01:43:57
|
2.2 was reversioned to 3.0 a couple of months ago, and will be entering RC1 today. Geoff Jonathan Paxman wrote: > It shouldn't be necessary to upgrade to 3.0 to get the 30LX working > though. Mine works with 2.2 from SVN with no problems. > > Is the Player 3.0 documentation available online? Is it a big step from > 2.2? > > Jonathan > > On Wed, Jul 22, 2009 at 6:10 AM, gbiggs <gb...@ki... > <mailto:gb...@ki...>> wrote: > > You need to upgrade to Player 3.0-RC1 to get the new version of the > driver. > > Geoff > > yasirniazkhan wrote: > > Hi, iam also trying the ranger interface to my UTM-30LX sensor, > but it only > > gives me 4 readings (scan points) continuously in playerv. These > readings > > are however correct. I have tried to change the min and max > angles, but it > > does not work. How can I get a complete 270 degree scan? > > > > I am using player 2.1.2 and latest release of gearbox. I run > player with > > config/hokuyo_aist.cfg file. Please guide. > > > > Yasir > > > > > > > > Jonathan Paxman wrote: > >> Thanks, that did the trick. Incidentally, is there a plan for the > >> writelog/readlog drivers to support the ranger interface? > >> > >> Jonathan > >> > >> On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki... > <mailto:gb...@ki...>> wrote: > >> > >>> The driver is successfully getting data from the device. The > problem is > >>> that it's only getting one range reading. It turns out that the > recent > >>> change I made, giving the driver a default min and max angle of 0 > >>> radians, > >>> wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, > >>> respectively. It's unlikely that a laser scanner is going to return > >>> greater > >>> than a 2pi scan, so these will get reduced to the minimum and > maximum > >>> angles > >>> the laser reports that it is capable of at driver start. > >>> > >>> Geoff > >>> > >>> > >>> Jonathan Paxman wrote: > >>> > >>>> I have a Hokuyo UTM-30LX, appears to be working correctly with the > >>>> urglaser driver, but not with the hokuyo-aist driver. I can > subscribe > >>>> to > >>>> the ranger interface using playerv with no obvious error, but > no data is > >>>> displayed in playerv. The ranger interface displays correctly > if I use > >>>> the > >>>> urglaser and lasertoranger drivers. > >>>> > >>>> I have the latest SVN versions of Gearbox and Player. The > >>>> hokuyo_aist_example appears to work correctly. See attached > for the > >>>> player/driver debug output. > >>>> > >>>> Any ideas would be appreciated. > >>>> > >>>> Jonathan > >>>> > >>> > >> > ------------------------------------------------------------------------------ > >> Crystal Reports - New Free Runtime and 30 Day Trial > >> Check out the new simplified licensing option that enables unlimited > >> royalty-free distribution of the report engine for externally facing > >> server and web deployment. > >> http://p.sf.net/sfu/businessobjects > >> _______________________________________________ > >> Playerstage-users mailing list > >> Pla...@li... > <mailto:Pla...@li...> > >> https://lists.sourceforge.net/lists/listinfo/playerstage-users > >> > >> > > > > ------------------------------------------------------------------------------ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > <mailto:Pla...@li...> > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > ------------------------------------------------------------------------ > > ------------------------------------------------------------------------------ > > > ------------------------------------------------------------------------ > > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: G. C. <gch...@ie...> - 2009-07-23 22:01:46
|
Hello, I also have the same problem with Yasir. I also use Player 2.1.2 and hokuyo_aist. If anyone has a solution or recomendation(s) please give some guidance. Thanks in advance, George 2009/7/21 yasirniazkhan <yas...@gm...>: > > Hi, iam also trying the ranger interface to my UTM-30LX sensor, but it only > gives me 4 readings (scan points) continuously in playerv. These readings > are however correct. I have tried to change the min and max angles, but it > does not work. How can I get a complete 270 degree scan? > > I am using player 2.1.2 and latest release of gearbox. I run player with > config/hokuyo_aist.cfg file. Please guide. > > Yasir > > > > Jonathan Paxman wrote: >> >> Thanks, that did the trick. Incidentally, is there a plan for the >> writelog/readlog drivers to support the ranger interface? >> >> Jonathan >> >> On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki...> wrote: >> >>> The driver is successfully getting data from the device. The problem is >>> that it's only getting one range reading. It turns out that the recent >>> change I made, giving the driver a default min and max angle of 0 >>> radians, >>> wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, >>> respectively. It's unlikely that a laser scanner is going to return >>> greater >>> than a 2pi scan, so these will get reduced to the minimum and maximum >>> angles >>> the laser reports that it is capable of at driver start. >>> >>> Geoff >>> >>> >>> Jonathan Paxman wrote: >>> >>>> >>>> I have a Hokuyo UTM-30LX, appears to be working correctly with the >>>> urglaser driver, but not with the hokuyo-aist driver. I can subscribe >>>> to >>>> the ranger interface using playerv with no obvious error, but no data is >>>> displayed in playerv. The ranger interface displays correctly if I use >>>> the >>>> urglaser and lasertoranger drivers. >>>> >>>> I have the latest SVN versions of Gearbox and Player. The >>>> hokuyo_aist_example appears to work correctly. See attached for the >>>> player/driver debug output. >>>> >>>> Any ideas would be appreciated. >>>> >>>> Jonathan >>>> >>> >>> >> >> ------------------------------------------------------------------------------ >> Crystal Reports - New Free Runtime and 30 Day Trial >> Check out the new simplified licensing option that enables unlimited >> royalty-free distribution of the report engine for externally facing >> server and web deployment. >> http://p.sf.net/sfu/businessobjects >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> >> > > -- > View this message in context: http://www.nabble.com/Hokuyo-UTM-30LX-tp22219072p24587592.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------------ > Enter the BlackBerry Developer Challenge > This is your chance to win up to $100,000 in prizes! For a limited time, > vendors submitting new applications to BlackBerry App World(TM) will have > the opportunity to enter the BlackBerry Developer Challenge. See full prize > details at: http://p.sf.net/sfu/Challenge > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: Sunny L. <su...@cs...> - 2009-03-04 04:01:06
|
Hi Geoff, I believe I have found the source of the problem in the hokuyo_aist driver. I'm not sure whether this is relevant to Player, but it may be useful information. First of all, after installing the SVN version of Gearbox, I tried the hokuyo_aist_example program, the output of this is: "Caught exception: (3) Invalid checksum - given: 75, calculated: 49" The SCIP v2 protocol spec states that a checksum is calculated by "adding data between two linefeeds, taking the lower 6 byte of this sum and finally adding 30H to this sum". Since my previous email, I began writing my own Java based driver using the RxTx package that talks to the UTM-30LX over USB directly, implementing each SCIP v2 command one at a time. I implemented the PP and VV commands successfully. When I implemented the II command, my code also came across a checksum error. The data returned from the laser when the II command was issued was: MODL:UTM-30LX(Hokuyo Automatic Co.,Ltd.);U LASR:OFF;7 SCSP:Initial(2400[rpm])<-Default setting by user;K MESM:IDLE;: TIME:3AC43A;8 STAT:Sensor works well.;8 Specifically, the checksum error was raised on the line: SCSP:Initial(2400[rpm])<-Default setting by user;K This caught my eye, as the checksum provided by the laser is K (which is 75) - the same checksum which caused the error in hokuyo_aist. My code supported the hokuyo_aist code, suggesting that the checksum should have been 49 (the character "1") instead of 75. On further testing, I found that the checksum returned by the laser was only calculated on "SCSP:Initial(2400[rpm])" as opposed to the entire sentence "SCSP:Initial(2400[rpm])<-Default setting by user" The spec was already initially ambiguous, as applying the checksum algorithm on "data between two linefeeds" would fail for the VV, PP and II commands, as this would have included the ; delimiter and checksum itself, as opposed to just the data. The spec also has a similar line of sample output for the SBPS ("Baud Rate for RS232C") data. I have not experienced this however, as this data is omitted when using USB. Hope that helps with debugging hokuyo_aist. regards, Sunny Geoffrey Biggs wrote: > I don't think the urglaser driver has ever been used with the UTM-30LX. > That driver does not implement the complete SCIP v2 protocol, so it may > be missing something. It's also old and hopefully going to be removed in > the next version of Player. > > What specific error does the hokuyo_aist driver give? If possible, add > "debug=3" to your portoptions for the driver. That will give you > significantly more output that you can post here (you might want to use > tee to save it). You can also try switching the port type to "seriallog" > and posting the two log files it produces. We can use those to step > through the driver code and see exactly what's going wrong. > > Geoff > > Sunny Leung wrote: >> Hi all, >> >> Has anyone had success using this laser with Player 2.0.x? This laser >> uses the SCIP v2 protocol, so the urglaser driver should work fine with >> it. However, I'm getting sporadic readings. playerv displays readings >> that never change, and below is the output from playerprint: >> >> calling connect >> done >> #min max res count range_res >> -85 85.5 0.25 682 0 >> #range bearing intensity >> 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0 .......repeats >> #min max res count range_res >> -85 85.5 0.25 682 0 >> #range bearing intensity >> 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0........repeats >> ..... >> ..... >> >> I have also tried hokuyo_aist from Gearbox and Player 2.1.2, but the >> driver insists there is a checksum error of some sort. >> >> Our last laser was the URG-04LX, which worked fine with the same >> code/configuration. >> >> >> Has anyone had experience with this laser? > > ------------------------------------------------------------------------------ > Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, CA > -OSBC tackles the biggest issue in open source: Open Sourcing the Enterprise > -Strategies to boost innovation and cut costs with open source participation > -Receive a $600 discount off the registration fee with the source code: SFAD > http://p.sf.net/sfu/XcvMzF8H > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: Jonathan P. <jon...@gm...> - 2009-06-18 02:10:59
|
Thanks Geoff, Logging is pretty straightforward using "type=seriallog" in portopts (and "type=logreader" to read the data back). Is the format of this logfile described anywhere? I also noticed that the "rangertolaser" driver does exist (but is not documented), so I am also able to log the laser using that along with writelog. Jonathan On Wed, Jun 17, 2009 at 2:03 PM, gbiggs <gb...@ki...> wrote: > The interface itself is going to be fixed in the upcoming release of > Player, so hopefully it will happen then. > > For now, you can get similar functionality by using the logging available > in the hokuyo_aist driver itself. Have a look at the Gearbox Flexiport > documentation to see how it works. There is a sample log file included with > in the ranger/ directory (although it might be a bit out of date with > respect to the library now and I should probably update it). > > Geoff > > Jonathan Paxman wrote: > >> Thanks, that did the trick. Incidentally, is there a plan for the >> writelog/readlog drivers to support the ranger interface? >> >> Jonathan >> >> On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki... <mailto: >> gb...@ki...>> wrote: >> >> The driver is successfully getting data from the device. The problem >> is that it's only getting one range reading. It turns out that the >> recent change I made, giving the driver a default min and max angle >> of 0 radians, wasn't such a hot idea. I've adjusted them to be -4 >> and 4 radians, respectively. It's unlikely that a laser scanner is >> going to return greater than a 2pi scan, so these will get reduced >> to the minimum and maximum angles the laser reports that it is >> capable of at driver start. >> >> Geoff >> >> >> Jonathan Paxman wrote: >> >> >> I have a Hokuyo UTM-30LX, appears to be working correctly with >> the urglaser driver, but not with the hokuyo-aist driver. I can >> subscribe to the ranger interface using playerv with no obvious >> error, but no data is displayed in playerv. The ranger >> interface displays correctly if I use the urglaser and >> lasertoranger drivers. >> >> I have the latest SVN versions of Gearbox and Player. The >> hokuyo_aist_example appears to work correctly. See attached for >> the player/driver debug output. >> >> Any ideas would be appreciated. >> >> Jonathan >> >> >> >> >> ------------------------------------------------------------------------ >> >> >> ------------------------------------------------------------------------------ >> Crystal Reports - New Free Runtime and 30 Day Trial >> Check out the new simplified licensing option that enables unlimited >> royalty-free distribution of the report engine for externally facing >> server and web deployment. >> http://p.sf.net/sfu/businessobjects >> >> >> ------------------------------------------------------------------------ >> >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > |
From: gbiggs <gb...@ki...> - 2009-06-18 02:18:19
|
It's logging the raw data at the communications port level (the logging is performed by the communications library that is used by the laser driver library that the Player driver uses). It uses a simple binary format consisting of a time stamp, a chunk size, then the data chunk itself. Reads and writes go into separate files. There's not much more to it than that. :) Geoff Jonathan Paxman wrote: > Logging is pretty straightforward using "type=seriallog" in portopts > (and "type=logreader" to read the data back). Is the format of this > logfile described anywhere? |
From: NikolayJetchev <nik...@ya...> - 2009-03-26 16:11:09
|
Hi all I am a phd student and we just got 2 Hokuyo UBG-04LX-F01 lasers, should be similar to your model. since you ask about using the laser and software problems, I assume that you don'T have problems with the hardware and power of the device. Can you explain me how to start the device, since the documentation is quite bad? A usb connection does not provide power to the device and nothing happens. I read somewhere that only serial connection can provide power, but no cable is provided for it (8pin serial/RS232), can you explain how to start the device, what cable is necessary? Can a serial to usb cable do the job and be used for both power/control? Best Regards Nikolay Jetchev Sunny Leung wrote: > > Hi all, > > Has anyone had success using this laser with Player 2.0.x? This laser > uses the SCIP v2 protocol, so the urglaser driver should work fine with > it. However, I'm getting sporadic readings. playerv displays readings > that never change, and below is the output from playerprint: > > calling connect > done > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0 .......repeats > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0........repeats > ..... > ..... > > I have also tried hokuyo_aist from Gearbox and Player 2.1.2, but the > driver insists there is a checksum error of some sort. > > Our last laser was the URG-04LX, which worked fine with the same > code/configuration. > > > Has anyone had experience with this laser? > > > > regards, > Sunny > > > ------------------------------------------------------------------------------ > Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, > CA > -OSBC tackles the biggest issue in open source: Open Sourcing the > Enterprise > -Strategies to boost innovation and cut costs with open source > participation > -Receive a $600 discount off the registration fee with the source code: > SFAD > http://p.sf.net/sfu/XcvMzF8H > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://www.nabble.com/Hokuyo-UTM-30LX-tp22219072p22725219.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Geoffrey B. <gb...@ki...> - 2009-03-27 09:22:40
|
You need to provide power through the white connector that the serial cable connects to. You don't have to use a serial cable to do this (indeed, it probably wouldn't work). You should have received a cable to connect to this with the laser. It may or may not have a 9-pin serial connector on the other end. The manual for the laser describes the pin layout for the white connector and the cable wire colours. Supply enough power (I think it's 5V at 1A, but check the manual) to the correct wires and the laser should power on. I wired my cable into a DC power pack. Geoff NikolayJetchev wrote: > Hi all > > I am a phd student and we just got 2 Hokuyo UBG-04LX-F01 lasers, should be > similar to your model. > > since you ask about using the laser and software problems, I assume that you > don'T have problems with the hardware and power of the device. > > Can you explain me how to start the device, since the documentation is quite > bad? A usb connection does not provide power to the device and nothing > happens. I read somewhere that only serial connection can provide power, but > no cable is provided for it (8pin serial/RS232), can you explain how to > start the device, what cable is necessary? Can a serial to usb cable do the > job and be used for both power/control? |
From: gbiggs <gb...@ki...> - 2009-03-31 08:43:23
|
Thanks for doing that work. I'll take a look at altering the behaviour of the library. Hopefully, this checksum behaviour is consistent across all laser models, otherwise things are going to get messy (and we should probably let Hokuyo know, if it's not, that one of their lasers is misbehaving). Geoff Sunny Leung wrote: > Hi Geoff, > > I believe I have found the source of the problem in the hokuyo_aist > driver. I'm not sure whether this is relevant to Player, but it may be > useful information. > > First of all, after installing the SVN version of Gearbox, I tried the > hokuyo_aist_example program, the output of this is: "Caught exception: > (3) Invalid checksum - given: 75, calculated: 49" > > The SCIP v2 protocol spec states that a checksum is calculated by > "adding data between two linefeeds, taking the lower 6 byte of this sum > and finally adding 30H to this sum". > > Since my previous email, I began writing my own Java based driver using > the RxTx package that talks to the UTM-30LX over USB directly, > implementing each SCIP v2 command one at a time. > > I implemented the PP and VV commands successfully. When I implemented > the II command, my code also came across a checksum error. The data > returned from the laser when the II command was issued was: > > MODL:UTM-30LX(Hokuyo Automatic Co.,Ltd.);U > LASR:OFF;7 > SCSP:Initial(2400[rpm])<-Default setting by user;K > MESM:IDLE;: > TIME:3AC43A;8 > STAT:Sensor works well.;8 > > Specifically, the checksum error was raised on the line: > SCSP:Initial(2400[rpm])<-Default setting by user;K > > This caught my eye, as the checksum provided by the laser is K (which is > 75) - the same checksum which caused the error in hokuyo_aist. > > My code supported the hokuyo_aist code, suggesting that the checksum > should have been 49 (the character "1") instead of 75. On further > testing, I found that the checksum returned by the laser was only > calculated on "SCSP:Initial(2400[rpm])" as opposed to the entire > sentence "SCSP:Initial(2400[rpm])<-Default setting by user" > > The spec was already initially ambiguous, as applying the checksum > algorithm on "data between two linefeeds" would fail for the VV, PP and > II commands, as this would have included the ; delimiter and checksum > itself, as opposed to just the data. > > The spec also has a similar line of sample output for the SBPS ("Baud > Rate for RS232C") data. I have not experienced this however, as this > data is omitted when using USB. > > Hope that helps with debugging hokuyo_aist. |
From: gbiggs <gb...@ki...> - 2009-07-21 22:10:21
|
You need to upgrade to Player 3.0-RC1 to get the new version of the driver. Geoff yasirniazkhan wrote: > Hi, iam also trying the ranger interface to my UTM-30LX sensor, but it only > gives me 4 readings (scan points) continuously in playerv. These readings > are however correct. I have tried to change the min and max angles, but it > does not work. How can I get a complete 270 degree scan? > > I am using player 2.1.2 and latest release of gearbox. I run player with > config/hokuyo_aist.cfg file. Please guide. > > Yasir > > > > Jonathan Paxman wrote: >> Thanks, that did the trick. Incidentally, is there a plan for the >> writelog/readlog drivers to support the ranger interface? >> >> Jonathan >> >> On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki...> wrote: >> >>> The driver is successfully getting data from the device. The problem is >>> that it's only getting one range reading. It turns out that the recent >>> change I made, giving the driver a default min and max angle of 0 >>> radians, >>> wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, >>> respectively. It's unlikely that a laser scanner is going to return >>> greater >>> than a 2pi scan, so these will get reduced to the minimum and maximum >>> angles >>> the laser reports that it is capable of at driver start. >>> >>> Geoff >>> >>> >>> Jonathan Paxman wrote: >>> >>>> I have a Hokuyo UTM-30LX, appears to be working correctly with the >>>> urglaser driver, but not with the hokuyo-aist driver. I can subscribe >>>> to >>>> the ranger interface using playerv with no obvious error, but no data is >>>> displayed in playerv. The ranger interface displays correctly if I use >>>> the >>>> urglaser and lasertoranger drivers. >>>> >>>> I have the latest SVN versions of Gearbox and Player. The >>>> hokuyo_aist_example appears to work correctly. See attached for the >>>> player/driver debug output. >>>> >>>> Any ideas would be appreciated. >>>> >>>> Jonathan >>>> >>> >> ------------------------------------------------------------------------------ >> Crystal Reports - New Free Runtime and 30 Day Trial >> Check out the new simplified licensing option that enables unlimited >> royalty-free distribution of the report engine for externally facing >> server and web deployment. >> http://p.sf.net/sfu/businessobjects >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> >> > |
From: Brandon S. <si...@sp...> - 2009-07-21 22:51:57
|
Just use the Hokuyo developed driver (not Player supported yet): http://www.hokuyo-aut.jp/cgi-bin/urg_programs_en/index.html Click on the "Sample library for URG" link and download the .zip file. It now supports Linux and works pretty well. -Brandon On Wed, 2009-07-22 at 07:10 +0900, gbiggs wrote: > You need to upgrade to Player 3.0-RC1 to get the new version of the driver. > > Geoff > > yasirniazkhan wrote: > > Hi, iam also trying the ranger interface to my UTM-30LX sensor, but it only > > gives me 4 readings (scan points) continuously in playerv. These readings > > are however correct. I have tried to change the min and max angles, but it > > does not work. How can I get a complete 270 degree scan? > > > > I am using player 2.1.2 and latest release of gearbox. I run player with > > config/hokuyo_aist.cfg file. Please guide. > > > > Yasir > > > > > > > > Jonathan Paxman wrote: > >> Thanks, that did the trick. Incidentally, is there a plan for the > >> writelog/readlog drivers to support the ranger interface? > >> > >> Jonathan > >> > >> On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki...> wrote: > >> > >>> The driver is successfully getting data from the device. The problem is > >>> that it's only getting one range reading. It turns out that the recent > >>> change I made, giving the driver a default min and max angle of 0 > >>> radians, > >>> wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, > >>> respectively. It's unlikely that a laser scanner is going to return > >>> greater > >>> than a 2pi scan, so these will get reduced to the minimum and maximum > >>> angles > >>> the laser reports that it is capable of at driver start. > >>> > >>> Geoff > >>> > >>> > >>> Jonathan Paxman wrote: > >>> > >>>> I have a Hokuyo UTM-30LX, appears to be working correctly with the > >>>> urglaser driver, but not with the hokuyo-aist driver. I can subscribe > >>>> to > >>>> the ranger interface using playerv with no obvious error, but no data is > >>>> displayed in playerv. The ranger interface displays correctly if I use > >>>> the > >>>> urglaser and lasertoranger drivers. > >>>> > >>>> I have the latest SVN versions of Gearbox and Player. The > >>>> hokuyo_aist_example appears to work correctly. See attached for the > >>>> player/driver debug output. > >>>> > >>>> Any ideas would be appreciated. > >>>> > >>>> Jonathan > >>>> > >>> > >> ------------------------------------------------------------------------------ > >> Crystal Reports - New Free Runtime and 30 Day Trial > >> Check out the new simplified licensing option that enables unlimited > >> royalty-free distribution of the report engine for externally facing > >> server and web deployment. > >> http://p.sf.net/sfu/businessobjects > >> _______________________________________________ > >> Playerstage-users mailing list > >> Pla...@li... > >> https://lists.sourceforge.net/lists/listinfo/playerstage-users > >> > >> > > > > ------------------------------------------------------------------------------ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: gbiggs <gb...@ki...> - 2009-03-31 09:12:45
|
Bad news: I checked with my URG-04LX. Here's a similar line from its II result: HokuyoLaser::ReadLine() Line is SCSP:Initial(600[rpm])<-Default setting by user;A HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from a line length of 49 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 65 (A), given checksum = 65 (A) It gives a checksum of 65 (A). I did a quick test and this checksum is calculated using the entire line, including the bit after the "<-". Dropping that gave me a checksum of 91 ([). So it looks like Hokuyo's lasers are inconsistent. I think we should let them know that their different models are not conforming to the SCIP specification in the same way. It's probably also worth both of us checking for firmware updates to see if this is old behaviour or not. Failing Hokuyo changing anything in the firmware of one laser or the other, I'll have to come up with a way for the library to detect <- comments reliably (i.e. not in laser data) and ignore them for checksums if the whole line produces an incorrect checksum. Geoff gbiggs wrote: > Thanks for doing that work. I'll take a look at altering the behaviour > of the library. Hopefully, this checksum behaviour is consistent across > all laser models, otherwise things are going to get messy (and we should > probably let Hokuyo know, if it's not, that one of their lasers is > misbehaving). > > Geoff > > Sunny Leung wrote: >> Hi Geoff, >> >> I believe I have found the source of the problem in the hokuyo_aist >> driver. I'm not sure whether this is relevant to Player, but it may be >> useful information. >> >> First of all, after installing the SVN version of Gearbox, I tried the >> hokuyo_aist_example program, the output of this is: "Caught exception: >> (3) Invalid checksum - given: 75, calculated: 49" >> >> The SCIP v2 protocol spec states that a checksum is calculated by >> "adding data between two linefeeds, taking the lower 6 byte of this sum >> and finally adding 30H to this sum". >> >> Since my previous email, I began writing my own Java based driver using >> the RxTx package that talks to the UTM-30LX over USB directly, >> implementing each SCIP v2 command one at a time. >> >> I implemented the PP and VV commands successfully. When I implemented >> the II command, my code also came across a checksum error. The data >> returned from the laser when the II command was issued was: >> >> MODL:UTM-30LX(Hokuyo Automatic Co.,Ltd.);U >> LASR:OFF;7 >> SCSP:Initial(2400[rpm])<-Default setting by user;K >> MESM:IDLE;: >> TIME:3AC43A;8 >> STAT:Sensor works well.;8 >> >> Specifically, the checksum error was raised on the line: >> SCSP:Initial(2400[rpm])<-Default setting by user;K >> >> This caught my eye, as the checksum provided by the laser is K (which is >> 75) - the same checksum which caused the error in hokuyo_aist. >> >> My code supported the hokuyo_aist code, suggesting that the checksum >> should have been 49 (the character "1") instead of 75. On further >> testing, I found that the checksum returned by the laser was only >> calculated on "SCSP:Initial(2400[rpm])" as opposed to the entire >> sentence "SCSP:Initial(2400[rpm])<-Default setting by user" >> >> The spec was already initially ambiguous, as applying the checksum >> algorithm on "data between two linefeeds" would fail for the VV, PP and >> II commands, as this would have included the ; delimiter and checksum >> itself, as opposed to just the data. >> >> The spec also has a similar line of sample output for the SBPS ("Baud >> Rate for RS232C") data. I have not experienced this however, as this >> data is omitted when using USB. >> >> Hope that helps with debugging hokuyo_aist. > > ------------------------------------------------------------------------------ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: gbiggs <gb...@ki...> - 2009-04-01 01:01:28
|
Hokuyo provides sample code on their Japanese web page for the lasers. I had a look through this code. Here's the code that calculates the checksum: char expected_sum = 0x00; for (int i = 0; i < size; ++i) { expected_sum += buffer[i]; } expected_sum = (expected_sum & 0x3f) + 0x30; Nowhere in the code could I find anything that looks for "<-" or similar in a line and ignores it for the checksum, nor any special-case handling for the SCSP line or the II message. I think that this indicates that the UTM-30LX is calculating the checksum incorrectly for these lines, particularly as users with the UHG-08LX haven't reported any problems. I didn't find an updated firmware for the URG-04LX, either. We should inform Hokuyo about this so they can correct the behaviour of one of their lasers. I found this email address for laser scanner support at their web site: su...@ho... Geoff gbiggs wrote: > Bad news: I checked with my URG-04LX. Here's a similar line from its II > result: > > HokuyoLaser::ReadLine() Line is SCSP:Initial(600[rpm])<-Default setting > by user;A > HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from > a line length of 49 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 65 (A), given > checksum = 65 (A) > > It gives a checksum of 65 (A). I did a quick test and this checksum is > calculated using the entire line, including the bit after the "<-". > Dropping that gave me a checksum of 91 ([). > > So it looks like Hokuyo's lasers are inconsistent. I think we should let > them know that their different models are not conforming to the SCIP > specification in the same way. It's probably also worth both of us > checking for firmware updates to see if this is old behaviour or not. > > Failing Hokuyo changing anything in the firmware of one laser or the > other, I'll have to come up with a way for the library to detect <- > comments reliably (i.e. not in laser data) and ignore them for checksums > if the whole line produces an incorrect checksum. > > Geoff > > gbiggs wrote: >> Thanks for doing that work. I'll take a look at altering the behaviour >> of the library. Hopefully, this checksum behaviour is consistent across >> all laser models, otherwise things are going to get messy (and we should >> probably let Hokuyo know, if it's not, that one of their lasers is >> misbehaving). >> >> Geoff >> >> Sunny Leung wrote: >>> Hi Geoff, >>> >>> I believe I have found the source of the problem in the hokuyo_aist >>> driver. I'm not sure whether this is relevant to Player, but it may be >>> useful information. >>> >>> First of all, after installing the SVN version of Gearbox, I tried the >>> hokuyo_aist_example program, the output of this is: "Caught exception: >>> (3) Invalid checksum - given: 75, calculated: 49" >>> >>> The SCIP v2 protocol spec states that a checksum is calculated by >>> "adding data between two linefeeds, taking the lower 6 byte of this sum >>> and finally adding 30H to this sum". >>> >>> Since my previous email, I began writing my own Java based driver using >>> the RxTx package that talks to the UTM-30LX over USB directly, >>> implementing each SCIP v2 command one at a time. >>> >>> I implemented the PP and VV commands successfully. When I implemented >>> the II command, my code also came across a checksum error. The data >>> returned from the laser when the II command was issued was: >>> >>> MODL:UTM-30LX(Hokuyo Automatic Co.,Ltd.);U >>> LASR:OFF;7 >>> SCSP:Initial(2400[rpm])<-Default setting by user;K >>> MESM:IDLE;: >>> TIME:3AC43A;8 >>> STAT:Sensor works well.;8 >>> >>> Specifically, the checksum error was raised on the line: >>> SCSP:Initial(2400[rpm])<-Default setting by user;K >>> >>> This caught my eye, as the checksum provided by the laser is K (which is >>> 75) - the same checksum which caused the error in hokuyo_aist. >>> >>> My code supported the hokuyo_aist code, suggesting that the checksum >>> should have been 49 (the character "1") instead of 75. On further >>> testing, I found that the checksum returned by the laser was only >>> calculated on "SCSP:Initial(2400[rpm])" as opposed to the entire >>> sentence "SCSP:Initial(2400[rpm])<-Default setting by user" >>> >>> The spec was already initially ambiguous, as applying the checksum >>> algorithm on "data between two linefeeds" would fail for the VV, PP and >>> II commands, as this would have included the ; delimiter and checksum >>> itself, as opposed to just the data. >>> >>> The spec also has a similar line of sample output for the SBPS ("Baud >>> Rate for RS232C") data. I have not experienced this however, as this >>> data is omitted when using USB. >>> >>> Hope that helps with debugging hokuyo_aist. >> ------------------------------------------------------------------------------ >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > > ------------------------------------------------------------------------------ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: yasirniazkhan <yas...@gm...> - 2009-07-24 13:18:09
|
Hi, just checkout player project (svn co https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/player/trunk player) and then update it back to revision 7200 (svn up -r 7200). (There could be a shorter way than extracting the whole project.) btw, hokuyo_aist was fixed in revision 6949 by Geoff. Please note that I used this method since I cannot upgrade my player installation. (It looks like player was majorly changed in revision 7208). Best Regards, Yasir G. Chliveros wrote: > > Hello, I also have the same problem with Yasir. I also use Player > 2.1.2 and hokuyo_aist. > > If anyone has a solution or recomendation(s) please give some guidance. > > Thanks in advance, George > > > > 2009/7/21 yasirniazkhan <yas...@gm...>: >> >> Hi, iam also trying the ranger interface to my UTM-30LX sensor, but it >> only >> gives me 4 readings (scan points) continuously in playerv. These readings >> are however correct. I have tried to change the min and max angles, but >> it >> does not work. How can I get a complete 270 degree scan? >> >> I am using player 2.1.2 and latest release of gearbox. I run player with >> config/hokuyo_aist.cfg file. Please guide. >> >> Yasir >> >> >> >> Jonathan Paxman wrote: >>> >>> Thanks, that did the trick. Incidentally, is there a plan for the >>> writelog/readlog drivers to support the ranger interface? >>> >>> Jonathan >>> >>> On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki...> wrote: >>> >>>> The driver is successfully getting data from the device. The problem is >>>> that it's only getting one range reading. It turns out that the recent >>>> change I made, giving the driver a default min and max angle of 0 >>>> radians, >>>> wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, >>>> respectively. It's unlikely that a laser scanner is going to return >>>> greater >>>> than a 2pi scan, so these will get reduced to the minimum and maximum >>>> angles >>>> the laser reports that it is capable of at driver start. >>>> >>>> Geoff >>>> >>>> >>>> Jonathan Paxman wrote: >>>> >>>>> >>>>> I have a Hokuyo UTM-30LX, appears to be working correctly with the >>>>> urglaser driver, but not with the hokuyo-aist driver. I can subscribe >>>>> to >>>>> the ranger interface using playerv with no obvious error, but no data >>>>> is >>>>> displayed in playerv. The ranger interface displays correctly if I >>>>> use >>>>> the >>>>> urglaser and lasertoranger drivers. >>>>> >>>>> I have the latest SVN versions of Gearbox and Player. The >>>>> hokuyo_aist_example appears to work correctly. See attached for the >>>>> player/driver debug output. >>>>> >>>>> Any ideas would be appreciated. >>>>> >>>>> Jonathan >>>>> >>>> >>>> >>> >>> ------------------------------------------------------------------------------ >>> Crystal Reports - New Free Runtime and 30 Day Trial >>> Check out the new simplified licensing option that enables unlimited >>> royalty-free distribution of the report engine for externally facing >>> server and web deployment. >>> http://p.sf.net/sfu/businessobjects >>> _______________________________________________ >>> Playerstage-users mailing list >>> Pla...@li... >>> https://lists.sourceforge.net/lists/listinfo/playerstage-users >>> >>> >> >> -- >> View this message in context: >> http://www.nabble.com/Hokuyo-UTM-30LX-tp22219072p24587592.html >> Sent from the playerstage-users mailing list archive at Nabble.com. >> >> >> ------------------------------------------------------------------------------ >> Enter the BlackBerry Developer Challenge >> This is your chance to win up to $100,000 in prizes! For a limited time, >> vendors submitting new applications to BlackBerry App World(TM) will have >> the opportunity to enter the BlackBerry Developer Challenge. See full >> prize >> details at: http://p.sf.net/sfu/Challenge >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > > ------------------------------------------------------------------------------ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://www.nabble.com/Hokuyo-UTM-30LX-tp22219072p24644372.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Wu H. <wu....@gm...> - 2009-04-01 00:15:37
|
They have 2 main version of firmware SCIP1 and SCIP2. There are incompatible with each other. How they calculate the the checksum is also different Best Regards Wu Hengxin Institute for Infocomm Research A*star On Tue, Mar 31, 2009 at 5:12 PM, gbiggs <gb...@ki...> wrote: > Bad news: I checked with my URG-04LX. Here's a similar line from its II > result: > > HokuyoLaser::ReadLine() Line is SCSP:Initial(600[rpm])<-Default setting > by user;A > HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from > a line length of 49 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 65 (A), given > checksum = 65 (A) > > It gives a checksum of 65 (A). I did a quick test and this checksum is > calculated using the entire line, including the bit after the "<-". > Dropping that gave me a checksum of 91 ([). > > So it looks like Hokuyo's lasers are inconsistent. I think we should let > them know that their different models are not conforming to the SCIP > specification in the same way. It's probably also worth both of us > checking for firmware updates to see if this is old behaviour or not. > > Failing Hokuyo changing anything in the firmware of one laser or the > other, I'll have to come up with a way for the library to detect <- > comments reliably (i.e. not in laser data) and ignore them for checksums > if the whole line produces an incorrect checksum. > > Geoff > > gbiggs wrote: > > Thanks for doing that work. I'll take a look at altering the behaviour > > of the library. Hopefully, this checksum behaviour is consistent across > > all laser models, otherwise things are going to get messy (and we should > > probably let Hokuyo know, if it's not, that one of their lasers is > > misbehaving). > > > > Geoff > > > > Sunny Leung wrote: > >> Hi Geoff, > >> > >> I believe I have found the source of the problem in the hokuyo_aist > >> driver. I'm not sure whether this is relevant to Player, but it may be > >> useful information. > >> > >> First of all, after installing the SVN version of Gearbox, I tried the > >> hokuyo_aist_example program, the output of this is: "Caught exception: > >> (3) Invalid checksum - given: 75, calculated: 49" > >> > >> The SCIP v2 protocol spec states that a checksum is calculated by > >> "adding data between two linefeeds, taking the lower 6 byte of this sum > >> and finally adding 30H to this sum". > >> > >> Since my previous email, I began writing my own Java based driver using > >> the RxTx package that talks to the UTM-30LX over USB directly, > >> implementing each SCIP v2 command one at a time. > >> > >> I implemented the PP and VV commands successfully. When I implemented > >> the II command, my code also came across a checksum error. The data > >> returned from the laser when the II command was issued was: > >> > >> MODL:UTM-30LX(Hokuyo Automatic Co.,Ltd.);U > >> LASR:OFF;7 > >> SCSP:Initial(2400[rpm])<-Default setting by user;K > >> MESM:IDLE;: > >> TIME:3AC43A;8 > >> STAT:Sensor works well.;8 > >> > >> Specifically, the checksum error was raised on the line: > >> SCSP:Initial(2400[rpm])<-Default setting by user;K > >> > >> This caught my eye, as the checksum provided by the laser is K (which is > >> 75) - the same checksum which caused the error in hokuyo_aist. > >> > >> My code supported the hokuyo_aist code, suggesting that the checksum > >> should have been 49 (the character "1") instead of 75. On further > >> testing, I found that the checksum returned by the laser was only > >> calculated on "SCSP:Initial(2400[rpm])" as opposed to the entire > >> sentence "SCSP:Initial(2400[rpm])<-Default setting by user" > >> > >> The spec was already initially ambiguous, as applying the checksum > >> algorithm on "data between two linefeeds" would fail for the VV, PP and > >> II commands, as this would have included the ; delimiter and checksum > >> itself, as opposed to just the data. > >> > >> The spec also has a similar line of sample output for the SBPS ("Baud > >> Rate for RS232C") data. I have not experienced this however, as this > >> data is omitted when using USB. > >> > >> Hope that helps with debugging hokuyo_aist. > > > > > ------------------------------------------------------------------------------ > > _______________________________________________ > > Playerstage-users mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > > ------------------------------------------------------------------------------ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: gbiggs <gb...@ki...> - 2009-04-01 00:28:40
|
SCIP is the protocol used for communications, not the firmware. The firmware is the software that is stored inside the laser's controller. Both the URG-04LX and the UTM-30LX use SCIP2 to communicate (although the URG-04LX can also use SCIP1), and so should be producing identically formatted output. Geoff Wu Hengxin wrote: > They have 2 main version of firmware SCIP1 and SCIP2. There are > incompatible with each other. How they calculate the the checksum is > also different > > Best Regards > > Wu Hengxin > Institute for Infocomm Research > A*star > > > On Tue, Mar 31, 2009 at 5:12 PM, gbiggs <gb...@ki... > <mailto:gb...@ki...>> wrote: > > Bad news: I checked with my URG-04LX. Here's a similar line from its II > result: > > HokuyoLaser::ReadLine() Line is SCSP:Initial(600[rpm])<-Default setting > by user;A > HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from > a line length of 49 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 65 (A), given > checksum = 65 (A) > > It gives a checksum of 65 (A). I did a quick test and this checksum is > calculated using the entire line, including the bit after the "<-". > Dropping that gave me a checksum of 91 ([). > > So it looks like Hokuyo's lasers are inconsistent. I think we should let > them know that their different models are not conforming to the SCIP > specification in the same way. It's probably also worth both of us > checking for firmware updates to see if this is old behaviour or not. > > Failing Hokuyo changing anything in the firmware of one laser or the > other, I'll have to come up with a way for the library to detect <- > comments reliably (i.e. not in laser data) and ignore them for checksums > if the whole line produces an incorrect checksum. > > Geoff > > gbiggs wrote: > > Thanks for doing that work. I'll take a look at altering the behaviour > > of the library. Hopefully, this checksum behaviour is consistent > across > > all laser models, otherwise things are going to get messy (and we > should > > probably let Hokuyo know, if it's not, that one of their lasers is > > misbehaving). > > > > Geoff > > > > Sunny Leung wrote: > >> Hi Geoff, > >> > >> I believe I have found the source of the problem in the hokuyo_aist > >> driver. I'm not sure whether this is relevant to Player, but it > may be > >> useful information. > >> > >> First of all, after installing the SVN version of Gearbox, I > tried the > >> hokuyo_aist_example program, the output of this is: "Caught > exception: > >> (3) Invalid checksum - given: 75, calculated: 49" > >> > >> The SCIP v2 protocol spec states that a checksum is calculated by > >> "adding data between two linefeeds, taking the lower 6 byte of > this sum > >> and finally adding 30H to this sum". > >> > >> Since my previous email, I began writing my own Java based driver > using > >> the RxTx package that talks to the UTM-30LX over USB directly, > >> implementing each SCIP v2 command one at a time. > >> > >> I implemented the PP and VV commands successfully. When I implemented > >> the II command, my code also came across a checksum error. The data > >> returned from the laser when the II command was issued was: > >> > >> MODL:UTM-30LX(Hokuyo Automatic Co.,Ltd.);U > >> LASR:OFF;7 > >> SCSP:Initial(2400[rpm])<-Default setting by user;K > >> MESM:IDLE;: > >> TIME:3AC43A;8 > >> STAT:Sensor works well.;8 > >> > >> Specifically, the checksum error was raised on the line: > >> SCSP:Initial(2400[rpm])<-Default setting by user;K > >> > >> This caught my eye, as the checksum provided by the laser is K > (which is > >> 75) - the same checksum which caused the error in hokuyo_aist. > >> > >> My code supported the hokuyo_aist code, suggesting that the checksum > >> should have been 49 (the character "1") instead of 75. On further > >> testing, I found that the checksum returned by the laser was only > >> calculated on "SCSP:Initial(2400[rpm])" as opposed to the entire > >> sentence "SCSP:Initial(2400[rpm])<-Default setting by user" > >> > >> The spec was already initially ambiguous, as applying the checksum > >> algorithm on "data between two linefeeds" would fail for the VV, > PP and > >> II commands, as this would have included the ; delimiter and checksum > >> itself, as opposed to just the data. > >> > >> The spec also has a similar line of sample output for the SBPS ("Baud > >> Rate for RS232C") data. I have not experienced this however, as this > >> data is omitted when using USB. > >> > >> Hope that helps with debugging hokuyo_aist. > > > > > ------------------------------------------------------------------------------ > > _______________________________________________ > > Playerstage-users mailing list > > Pla...@li... > <mailto:Pla...@li...> > > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > ------------------------------------------------------------------------------ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > <mailto:Pla...@li...> > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > > ------------------------------------------------------------------------ > > ------------------------------------------------------------------------------ > > > ------------------------------------------------------------------------ > > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: jhtway <jh...@ms...> - 2009-05-20 15:11:02
|
Hi there my research group just ordered the Hokuyo utm 30lx and I'm having a little powering what is the best configuration for running the four pin wire setup they give you. I emailed the company I bought it from and they say that I shouldn't use the connector given because it cause noise when used in actual settings. What do you think Thank you Josh Sunny Leung wrote: > > Hi all, > > Has anyone had success using this laser with Player 2.0.x? This laser > uses the SCIP v2 protocol, so the urglaser driver should work fine with > it. However, I'm getting sporadic readings. playerv displays readings > that never change, and below is the output from playerprint: > > calling connect > done > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0 .......repeats > #min max res count range_res > -85 85.5 0.25 682 0 > #range bearing intensity > 60 -85 0 60 -84.75 0 60 -84.5 0 60 -84.25 0........repeats > ..... > ..... > > I have also tried hokuyo_aist from Gearbox and Player 2.1.2, but the > driver insists there is a checksum error of some sort. > > Our last laser was the URG-04LX, which worked fine with the same > code/configuration. > > > Has anyone had experience with this laser? > > > > regards, > Sunny > > > ------------------------------------------------------------------------------ > Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, > CA > -OSBC tackles the biggest issue in open source: Open Sourcing the > Enterprise > -Strategies to boost innovation and cut costs with open source > participation > -Receive a $600 discount off the registration fee with the source code: > SFAD > http://p.sf.net/sfu/XcvMzF8H > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://www.nabble.com/Hokuyo-UTM-30LX-tp22219072p23637168.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: gbiggs <gb...@ki...> - 2009-06-17 06:03:55
|
The interface itself is going to be fixed in the upcoming release of Player, so hopefully it will happen then. For now, you can get similar functionality by using the logging available in the hokuyo_aist driver itself. Have a look at the Gearbox Flexiport documentation to see how it works. There is a sample log file included with in the ranger/ directory (although it might be a bit out of date with respect to the library now and I should probably update it). Geoff Jonathan Paxman wrote: > Thanks, that did the trick. Incidentally, is there a plan for the > writelog/readlog drivers to support the ranger interface? > > Jonathan > > On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki... > <mailto:gb...@ki...>> wrote: > > The driver is successfully getting data from the device. The problem > is that it's only getting one range reading. It turns out that the > recent change I made, giving the driver a default min and max angle > of 0 radians, wasn't such a hot idea. I've adjusted them to be -4 > and 4 radians, respectively. It's unlikely that a laser scanner is > going to return greater than a 2pi scan, so these will get reduced > to the minimum and maximum angles the laser reports that it is > capable of at driver start. > > Geoff > > > Jonathan Paxman wrote: > > > I have a Hokuyo UTM-30LX, appears to be working correctly with > the urglaser driver, but not with the hokuyo-aist driver. I can > subscribe to the ranger interface using playerv with no obvious > error, but no data is displayed in playerv. The ranger > interface displays correctly if I use the urglaser and > lasertoranger drivers. > > I have the latest SVN versions of Gearbox and Player. The > hokuyo_aist_example appears to work correctly. See attached for > the player/driver debug output. > > Any ideas would be appreciated. > > Jonathan > > > > > ------------------------------------------------------------------------ > > ------------------------------------------------------------------------------ > Crystal Reports - New Free Runtime and 30 Day Trial > Check out the new simplified licensing option that enables unlimited > royalty-free distribution of the report engine for externally facing > server and web deployment. > http://p.sf.net/sfu/businessobjects > > > ------------------------------------------------------------------------ > > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |
From: yasirniazkhan <yas...@gm...> - 2009-07-21 13:25:01
|
Hi, iam also trying the ranger interface to my UTM-30LX sensor, but it only gives me 4 readings (scan points) continuously in playerv. These readings are however correct. I have tried to change the min and max angles, but it does not work. How can I get a complete 270 degree scan? I am using player 2.1.2 and latest release of gearbox. I run player with config/hokuyo_aist.cfg file. Please guide. Yasir Jonathan Paxman wrote: > > Thanks, that did the trick. Incidentally, is there a plan for the > writelog/readlog drivers to support the ranger interface? > > Jonathan > > On Wed, Jun 17, 2009 at 1:28 PM, gbiggs <gb...@ki...> wrote: > >> The driver is successfully getting data from the device. The problem is >> that it's only getting one range reading. It turns out that the recent >> change I made, giving the driver a default min and max angle of 0 >> radians, >> wasn't such a hot idea. I've adjusted them to be -4 and 4 radians, >> respectively. It's unlikely that a laser scanner is going to return >> greater >> than a 2pi scan, so these will get reduced to the minimum and maximum >> angles >> the laser reports that it is capable of at driver start. >> >> Geoff >> >> >> Jonathan Paxman wrote: >> >>> >>> I have a Hokuyo UTM-30LX, appears to be working correctly with the >>> urglaser driver, but not with the hokuyo-aist driver. I can subscribe >>> to >>> the ranger interface using playerv with no obvious error, but no data is >>> displayed in playerv. The ranger interface displays correctly if I use >>> the >>> urglaser and lasertoranger drivers. >>> >>> I have the latest SVN versions of Gearbox and Player. The >>> hokuyo_aist_example appears to work correctly. See attached for the >>> player/driver debug output. >>> >>> Any ideas would be appreciated. >>> >>> Jonathan >>> >> >> > > ------------------------------------------------------------------------------ > Crystal Reports - New Free Runtime and 30 Day Trial > Check out the new simplified licensing option that enables unlimited > royalty-free distribution of the report engine for externally facing > server and web deployment. > http://p.sf.net/sfu/businessobjects > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://www.nabble.com/Hokuyo-UTM-30LX-tp22219072p24587592.html Sent from the playerstage-users mailing list archive at Nabble.com. |