[Playerstage-users] Difficulty connecting to a Hokuyo rangefinder

[kapvik <jhi...@co...>]

Hi All,

I'm new to Player and am trying to connect to a Hokuyo URG 04-LX laser
rangefinder and display data in the playerv client over a serial connection.
I'm getting an error message from the Playerv client that I haven't found
elsewhere on the web, and don't really know how to interpret it. Is it a
problem with the driver, the serial connection, or something else?

(We've installed GearBox 9.11, Player 3.0.1, and Ubuntu 8.10 on a Pioneer
3-AT robot's onboard PC.)

The player config file looks like:

driver
(
	name "hokuyo_aist"
	provides ["ranger:0"]
	portopts "type=seriallog,device=/dev/ttyS3,timeout=1, baud=19200"
	baud_rate 19200
	verbose true
)



The player server gives:

[...]
listening on 6665
Listening on ports: 6665 
accepted TCP client 0 on port 6665, fd 5
HokuyoLaser::OpenWithProbing() Creating and opening port using options:
type=seriallog,device=/dev/ttyS3,timeout=1, baud=19200
HokuyoLaser::OpenWithProbing() Connected using logwriter connection.
Base status:
Debug level: 0	Timeout: 1.000000
Will block: 1	Permissions: rw
Serial-specific status:
Device: /dev/ttyS3
Baud rate: 19200	Data bits: 8
Stop bits: 1	Parity: None
Hardware flow control: 0
Port is open
LogWriter-specific status:
Writing to port.log
HokuyoLaser::GetAndSetSCIPVersion() Testing SCIP protocol version.
HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, parameters
length is 0
HokuyoLaser::ReadLine() Reading exactly 3 bytes.
HokuyoLaser::GetAndSetSCIPVersion() Initial SCIP version 2 test failed.
HokuyoLaser::SendCommand() Writing in SCIP1 mode. Command is V, parameters
length is 0
HokuyoLaser::ReadLine() Reading exactly 2 bytes.
HokuyoLaser::OpenWithProbing() Failed to connect at the default baud rate.
HokuyoLaser::OpenWithProbing() Port is not serial, cannot probe.
error   : hokuyo_aist: Failed to setup laser driver: (9) SCIP versions 1 and
2 failed.
error   : Driver failed to Setup (-1)



The client gives:

PlayerViewer 3.0.1
Connecting to [localhost:6665]
playerc warning   : warning : [Player v.3.0.1] connected on [localhost:6665]
with sock 4

Available devices: localhost:6665
ranger:0         hokuyo_aist                             ready
playerc error   : timed out waiting for server reply to request
ranger:0:request:1
playerv : error in
/root/Desktop/player-3.0.1_temp/utils/playerv/pv_dev_ranger.c
 libplayerc error: timed out waiting for server reply to request
ranger:0:request:1
playerc error   : timed out waiting for server reply to request
ranger:0:request:5
playerv : error in
/root/Desktop/player-3.0.1_temp/utils/playerv/pv_dev_ranger.c
 libplayerc error: timed out waiting for server reply to request
ranger:0:request:5

...and so on.

We have got data from the laser over a USB connection using the urglaser
driver on a different computer running ubuntu 10.04.

Any ideas of what we might try?
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