From: Markus Eich <markus.eich@df...>  20081219 12:48:45

Thank you. The driver is now able to connect and reconnect. But there is still a problem with the OpenWithProbing method. If the baud rate in the config is different within the portopts and the baud_rate my config: driver ( name "hokuyo_aist" provides ["ranger:0"] portopts "type=serial,device=/dev/ttyS1,timeout=1,baud=115200" verbose 1 baud_rate 19200 ) It seems the probing is working so far (laser was at 115200 baud). Than the laser is set to 19200 //from complete log at the end 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 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::SetMotorSpeed() Reseting motor speed to default. HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is CR, parameters length is 2 HokuyoLaser::ReadLine() Reading exactly 5 bytes. HokuyoLaser::ReadLine() Read 5 bytes. HokuyoLaser::ReadLine() Line is error : hokuyo_aist: Failed to setup laser driver: (3) Incorrect command echo: CR != error : Driver failed to Setup (1) error : Select called failed in File Watcher: 4 Interrupted system call Quitting. closing TCP connection to client 0 on port 6665 The laser is set to 19200, but a later command is failing it seems (Error : hokuyo_aist: Failed to setup laser driver: (3) Incorrect command echo: CR != ) I think the solution is around the corner. Mayb some missing FLUSH somewhere? complete logfile here: =============================cut ================================================================================ HokuyoLaser::OpenWithProbing() Creating and opening port using options: type=serial,device=/dev/ttyS1,timeout=1,baud=115200 HokuyoLaser::OpenWithProbing() Connected using serial connection. Base status: Debug level: 0 Timeout: 1.000000 Will block: 1 Permissions: rw Serialspecific status: Device: /dev/ttyS1 Baud rate: 115200 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 31 bytes. HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor URG04LX;[ HokuyoLaser::ReadLineWithCheck() Considering 28 bytes for checksum from a line length of 30 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 91 ([), given checksum = 91 ([) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 28 bytes. HokuyoLaser::ReadLine() Line is FIRM:3.3.00(16/Apr./2008);k HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from a line length of 27 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 107 (k), given checksum = 107 (k) 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:H0611163;G HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 71 (G), given checksum = 71 (G) 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 43 bytes. HokuyoLaser::ReadLine() Line is MODL:URG04LX(Hokuyo Automatic Co.,Ltd.);N HokuyoLaser::ReadLineWithCheck() Considering 40 bytes for checksum from a line length of 42 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 78 (N), given checksum = 78 (N) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 10 bytes. HokuyoLaser::ReadLine() Line is DMIN:20;4 HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 52 (4), given checksum = 52 (4) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 12 bytes. HokuyoLaser::ReadLine() Line is DMAX:5600;_ HokuyoLaser::ReadLineWithCheck() Considering 9 bytes for checksum from a line length of 11 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 95 (_), given checksum = 95 (_) 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 10 bytes. HokuyoLaser::ReadLine() Line is AMIN:44;7 HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 55 (7), given checksum = 55 (7) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 11 bytes. HokuyoLaser::ReadLine() Line is AMAX:725;o HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 111 (o), given checksum = 111 (o) 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:600;e HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 101 (e), given checksum = 101 (e) 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(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) 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 19 bytes. HokuyoLaser::ReadLine() Line is SBPS:115200[bps];H HokuyoLaser::ReadLineWithCheck() Considering 16 bytes for checksum from a line length of 18 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 72 (H), given checksum = 72 (H) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 14 bytes. HokuyoLaser::ReadLine() Line is TIME:A3128D;l HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from a line length of 13 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given checksum = 108 (l) 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 URG04LX Firmware: 3.3.00(16/Apr./2008) Protocol: SCIP 2.0 Serial: H0611163 Model: URG04LX(Hokuyo Automatic Co.,Ltd.) Mininum range: 20mm Maximum range: 5600mm Steps in 360 degrees: 1024 Scanable steps: 682 First step: 44 Front step: 384 Last step: 725 Resolution: 0.00613592 radians/step Minimum angle: 2.08621 radians Maximum angle: 2.09235 radians Standard motor speed: 600rpm Power status: On Measurement state: Measuring by Normal Mode Motor speed: 600rpm (level 0) Baud rate: 115200bps Time stamp: 10687117ms Sensor diagnostic: Sensor works well. HokuyoLaser::GetDefaults() Got default values: 2.08621 2.09235 0.00613592 44 725 384 5600 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 31 bytes. HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor URG04LX;[ HokuyoLaser::ReadLineWithCheck() Considering 28 bytes for checksum from a line length of 30 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 91 ([), given checksum = 91 ([) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 28 bytes. HokuyoLaser::ReadLine() Line is FIRM:3.3.00(16/Apr./2008);k HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from a line length of 27 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 107 (k), given checksum = 107 (k) 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:H0611163;G HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 71 (G), given checksum = 71 (G) 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 43 bytes. HokuyoLaser::ReadLine() Line is MODL:URG04LX(Hokuyo Automatic Co.,Ltd.);N HokuyoLaser::ReadLineWithCheck() Considering 40 bytes for checksum from a line length of 42 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 78 (N), given checksum = 78 (N) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 10 bytes. HokuyoLaser::ReadLine() Line is DMIN:20;4 HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 52 (4), given checksum = 52 (4) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 12 bytes. HokuyoLaser::ReadLine() Line is DMAX:5600;_ HokuyoLaser::ReadLineWithCheck() Considering 9 bytes for checksum from a line length of 11 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 95 (_), given checksum = 95 (_) 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 10 bytes. HokuyoLaser::ReadLine() Line is AMIN:44;7 HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 55 (7), given checksum = 55 (7) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 11 bytes. HokuyoLaser::ReadLine() Line is AMAX:725;o HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 111 (o), given checksum = 111 (o) 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:600;e HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 101 (e), given checksum = 101 (e) 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(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) 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 19 bytes. HokuyoLaser::ReadLine() Line is SBPS:115200[bps];H HokuyoLaser::ReadLineWithCheck() Considering 16 bytes for checksum from a line length of 18 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 72 (H), given checksum = 72 (H) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 14 bytes. HokuyoLaser::ReadLine() Line is TIME:A313B9;l HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from a line length of 13 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given checksum = 108 (l) 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 URG04LX Firmware: 3.3.00(16/Apr./2008) Protocol: SCIP 2.0 Serial: H0611163 Model: URG04LX(Hokuyo Automatic Co.,Ltd.) Mininum range: 20mm Maximum range: 5600mm Steps in 360 degrees: 1024 Scanable steps: 682 First step: 44 Front step: 384 Last step: 725 Resolution: 0.00613592 radians/step Minimum angle: 2.08621 radians Maximum angle: 2.09235 radians Standard motor speed: 600rpm Power status: On Measurement state: Measuring by Normal Mode Motor speed: 600rpm (level 0) Baud rate: 115200bps Time stamp: 10687417ms 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 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::SetMotorSpeed() Reseting motor speed to default. HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is CR, parameters length is 2 HokuyoLaser::ReadLine() Reading exactly 5 bytes. HokuyoLaser::ReadLine() Read 5 bytes. HokuyoLaser::ReadLine() Line is error : hokuyo_aist: Failed to setup laser driver: (3) Incorrect command echo: CR != error : Driver failed to Setup (1) error : Select called failed in File Watcher: 4 Interrupted system call Quitting. closing TCP connection to client 0 on port 6665 =============================cut ================================================================================ gbiggs schrieb: > I've tracked these crashes down to two issues: > > 1) A doublefree in the driver. > 2) Problems with threaded drivers and cancellation points. > > Both of these issues have now been fixed in svn trunk. > > Geoff > > Markus Eich wrote: > >> Attached a more detailed log. >> >> The last entry was "Sensor diagnostic: Sensor works well." :) >> > > >  > SF.Net email is Sponsored by MIX09, March 1820, 2009 in Las Vegas, Nevada. > The future of the web can't happen without you. Join us at MIX09 to help > pave the way to the Next Web now. Learn more and register at > http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ > _______________________________________________ > Playerstageusers mailing list > Playerstageusers@... > https://lists.sourceforge.net/lists/listinfo/playerstageusers >  Dipl. Inform. Markus Eich Research Assistant DFKI Bremen German Research Center for Artificial Intelligence Email: markus.eich@... Tel.: +49 (421) 21864105 Fax : +49 (421) 21864150 Room: 212 Postal address: Markus Eich DFKI Bremen RobertHookeStrasse 5 28359 Bremen Germany Further informations: http://www.dfki.de/robotics  Deutsches Forschungszentrum für Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 