From: Markus E. <mar...@df...> - 2008-12-17 12:48:57
|
Dear all, when I try to use the Hokuyo_aist driver for player it works fine once. When I try to discon and reconnect the driver cannot connect anymore: Here the verbose output: ============================================================================================================ HokuyoLaser::GetAndSetSCIPVersion() Testing SCIP protocol version. HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is V, parameters length is 0 HokuyoLaser::ReadLine() Reading exactly 3 bytes. HokuyoLaser::ReadLine() Read 3 bytes. HokuyoLaser::ReadLine() Line is HokuyoLaser::GetAndSetSCIPVersion() Initial SCIP version 1 test failed. HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, parameters length is 0 HokuyoLaser::ReadLine() Reading exactly 3 bytes. error : hokuyo_aist: Failed to setup laser driver: (9) SCIP versions 1 and 2 failed. warning : subscription failed for device ranger:0 error : Select called failed in File Watcher: 4 Interrupted system call ============================================================================================================ When killing and restarting the driver it seems to work. Any ideas to this issue? Cheers Markus -- Dipl. Inform. Markus Eich Research Assistant DFKI Bremen German Research Center for Artificial Intelligence Email: mar...@df... Tel.: +49 (421) 218-64105 Fax : +49 (421) 218-64150 Room: 212 Postal address: Markus Eich DFKI Bremen Robert-Hooke-Strasse 5 28359 Bremen Germany Further informations: http://www.dfki.de/robotics ------------------------------------------------------------------------------------------- Deutsches Forschungszentrum für Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 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 |
From: gbiggs <gb...@ki...> - 2008-12-18 06:09:53
|
If you can send me some more information, I can try and fix this issue: 1) Add "debug=3" to your portopts line in your configuration file. This will produce considerably more output. Save it to a file and post it here. 2) Remove the debug option, then change your port type to "seriallog" and run Player again so that it produces the same error. This will produce to output files, "port.logw" and "port.logr". Post them both here. You might want to compress them. Geoff Markus Eich wrote: > Dear all, > > when I try to use the Hokuyo_aist driver for player it works fine once. > When I try to discon and reconnect the driver cannot connect anymore: > > Here the verbose output: > ============================================================================================================ > HokuyoLaser::GetAndSetSCIPVersion() Testing SCIP protocol version. > HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is V, > parameters length is 0 > HokuyoLaser::ReadLine() Reading exactly 3 bytes. > HokuyoLaser::ReadLine() Read 3 bytes. > HokuyoLaser::ReadLine() Line is > HokuyoLaser::GetAndSetSCIPVersion() Initial SCIP version 1 test failed. > HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, > parameters length is 0 > HokuyoLaser::ReadLine() Reading exactly 3 bytes. > error : hokuyo_aist: Failed to setup laser driver: (9) SCIP versions 1 > and 2 failed. > warning : subscription failed for device ranger:0 > error : Select called failed in File Watcher: 4 Interrupted system call > > ============================================================================================================ > > When killing and restarting the driver it seems to work. > > Any ideas to this issue? |
From: Markus E. <mar...@df...> - 2008-12-18 10:42:20
|
Dear Geoff, find the logfiles attached. The config file i used was ================================== driver ( name "hokuyo_aist" provides ["ranger:0"] portopts "type=seriallog,device=/dev/ttyS1,timeout=1,baud=19200" baud_rate 19200 ) ===================================== for the port logger and ===================================== driver ( name "hokuyo_aist" provides ["ranger:0"] portopts "type=serial,device=/dev/ttyS1,timeout=1,debug=3, baud=19200" baud_rate 19200 ) ===================================== for the player_output.txt The error is always the same: first time connect works fine. Second connect bailout. gbiggs schrieb: > If you can send me some more information, I can try and fix this issue: > > 1) Add "debug=3" to your portopts line in your configuration file. This > will produce considerably more output. Save it to a file and post it here. > > 2) Remove the debug option, then change your port type to "seriallog" > and run Player again so that it produces the same error. This will > produce to output files, "port.logw" and "port.logr". Post them both > here. You might want to compress them. > > Geoff > > Markus Eich wrote: > >> Dear all, >> >> when I try to use the Hokuyo_aist driver for player it works fine once. >> When I try to discon and reconnect the driver cannot connect anymore: >> >> Here the verbose output: >> ============================================================================================================ >> HokuyoLaser::GetAndSetSCIPVersion() Testing SCIP protocol version. >> HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is V, >> parameters length is 0 >> HokuyoLaser::ReadLine() Reading exactly 3 bytes. >> HokuyoLaser::ReadLine() Read 3 bytes. >> HokuyoLaser::ReadLine() Line is >> HokuyoLaser::GetAndSetSCIPVersion() Initial SCIP version 1 test failed. >> HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, >> parameters length is 0 >> HokuyoLaser::ReadLine() Reading exactly 3 bytes. >> error : hokuyo_aist: Failed to setup laser driver: (9) SCIP versions 1 >> and 2 failed. >> warning : subscription failed for device ranger:0 >> error : Select called failed in File Watcher: 4 Interrupted system call >> >> ============================================================================================================ >> >> When killing and restarting the driver it seems to work. >> >> Any ideas to this issue? >> > > > ------------------------------------------------------------------------------ > SF.Net email is Sponsored by MIX09, March 18-20, 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/ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > -- Dipl. Inform. Markus Eich Research Assistant DFKI Bremen German Research Center for Artificial Intelligence Email: mar...@df... Tel.: +49 (421) 218-64105 Fax : +49 (421) 218-64150 Room: 212 Postal address: Markus Eich DFKI Bremen Robert-Hooke-Strasse 5 28359 Bremen Germany Further informations: http://www.dfki.de/robotics ------------------------------------------------------------------------------------------- Deutsches Forschungszentrum für Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 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 |
From: Geoffrey B. <gb...@ki...> - 2008-12-18 10:56:09
|
The player_output.txt file is missing a lot. It's been cut off at the top; by your terminal, probably. You need to run player like this: player config.cfg 2>&1 | tee player_output.txt Set the verbose option for the hokuyo_aist driver to true, as well. It will make it easier for me to see what the library is doing to the port. Geoff Markus Eich wrote: > Dear Geoff, > > find the logfiles attached. The config file i used was > > ================================== > driver > ( > name "hokuyo_aist" > provides ["ranger:0"] > portopts "type=seriallog,device=/dev/ttyS1,timeout=1,baud=19200" > baud_rate 19200 > ) > ===================================== > > for the port logger and > ===================================== > driver > ( > name "hokuyo_aist" > provides ["ranger:0"] > portopts "type=serial,device=/dev/ttyS1,timeout=1,debug=3, baud=19200" > baud_rate 19200 > ) > ===================================== > > for the player_output.txt > > The error is always the same: first time connect works fine. Second > connect bailout. > > > > > > gbiggs schrieb: >> If you can send me some more information, I can try and fix this issue: >> >> 1) Add "debug=3" to your portopts line in your configuration file. This >> will produce considerably more output. Save it to a file and post it here. >> >> 2) Remove the debug option, then change your port type to "seriallog" >> and run Player again so that it produces the same error. This will >> produce to output files, "port.logw" and "port.logr". Post them both >> here. You might want to compress them. >> >> Geoff >> >> Markus Eich wrote: >> >>> Dear all, >>> >>> when I try to use the Hokuyo_aist driver for player it works fine once. >>> When I try to discon and reconnect the driver cannot connect anymore: >>> >>> Here the verbose output: >>> ============================================================================================================ >>> HokuyoLaser::GetAndSetSCIPVersion() Testing SCIP protocol version. >>> HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is V, >>> parameters length is 0 >>> HokuyoLaser::ReadLine() Reading exactly 3 bytes. >>> HokuyoLaser::ReadLine() Read 3 bytes. >>> HokuyoLaser::ReadLine() Line is >>> HokuyoLaser::GetAndSetSCIPVersion() Initial SCIP version 1 test failed. >>> HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, >>> parameters length is 0 >>> HokuyoLaser::ReadLine() Reading exactly 3 bytes. >>> error : hokuyo_aist: Failed to setup laser driver: (9) SCIP versions 1 >>> and 2 failed. >>> warning : subscription failed for device ranger:0 >>> error : Select called failed in File Watcher: 4 Interrupted system call >>> >>> ============================================================================================================ >>> >>> When killing and restarting the driver it seems to work. >>> >>> Any ideas to this issue? >>> >> >> ------------------------------------------------------------------------------ >> SF.Net email is Sponsored by MIX09, March 18-20, 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/ >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > > |
From: Markus E. <mar...@df...> - 2008-12-18 11:09:16
Attachments:
player_output.tgz
|
Attached a more detailed log. The last entry was "Sensor diagnostic: Sensor works well." :-) Before it crashes on the console with //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// *** glibc detected *** player: double free or corruption (out): 0x080569a0 *** ======= Backtrace: ========= /lib/tls/i686/cmov/libc.so.6[0xb7404a85] /lib/tls/i686/cmov/libc.so.6(cfree+0x90)[0xb74084f0] /usr/lib/libstdc++.so.6(_ZdlPv+0x21)[0xb75aab11] /usr/local/lib/libplayerdrivers.so.2.2(_ZN12HokuyoDriver17AllocateDataSpaceEv+0x31)[0xb7f387c1] /usr/local/lib/libplayerdrivers.so.2.2(_ZN12HokuyoDriver5SetupEv+0x171)[0xb7f38a93] /usr/local/lib/libplayercore.so.2.2(_ZN6Driver9SubscribeE14player_devaddr+0x22)[0xb7e1b97e] /usr/local/lib/libplayercore.so.2.2(_ZN6Device9SubscribeER12QueuePointer+0x25f)[0xb7e1dfb9] /usr/local/lib/libplayertcp.so.2.2(_ZN9PlayerTCP19HandlePlayerMessageEiP7Message+0x459)[0xb7e05863] /usr/local/lib/libplayertcp.so.2.2(_ZN9PlayerTCP11ParseBufferEi+0x503)[0xb7e06efb] /usr/local/lib/libplayertcp.so.2.2(_ZN9PlayerTCP10ReadClientEi+0x324)[0xb7e0749a] /usr/local/lib/libplayertcp.so.2.2(_ZN9PlayerTCP4ReadEib+0x26e)[0xb7e085ee] player(main+0x7ff)[0x804a697] /lib/tls/i686/cmov/libc.so.6(__libc_start_main+0xe0)[0xb73af450] player(__gxx_personality_v0+0xd9)[0x80499e1] ======= Memory map: ======== 08048000-0804c000 r-xp 00000000 08:01 17025 /usr/local/bin/player 0804c000-0804d000 rw-p 00003000 08:01 17025 /usr/local/bin/player 0804d000-08097000 rw-p 0804d000 00:00 0 [heap] b5a0d000-b5a0e000 ---p b5a0d000 00:00 0 b5a0e000-b7246000 rw-p b5a0e000 00:00 0 b7246000-b724a000 r-xp 00000000 08:01 353769 /usr/lib/libXdmcp.so.6.0.0 b724a000-b724b000 rw-p 00003000 08:01 353769 /usr/lib/libXdmcp.so.6.0.0 b724b000-b7262000 r-xp 00000000 08:01 354469 /usr/lib/libxcb.so.1.0.0 b7262000-b7263000 rw-p 00016000 08:01 354469 /usr/lib/libxcb.so.1.0.0 b7263000-b7264000 r-xp 00000000 08:01 354473 /usr/lib/libxcb-xlib.so.0.0.0 b7264000-b7265000 rw-p 00000000 08:01 354473 /usr/lib/libxcb-xlib.so.0.0.0 b7265000-b7266000 rw-p b7265000 00:00 0 b7266000-b728e000 r-xp 00000000 08:01 352823 /usr/lib/libpixman-1.so.0.10.0 b728e000-b728f000 rw-p 00027000 08:01 352823 /usr/lib/libpixman-1.so.0.10.0 b728f000-b72b1000 r-xp 00000000 08:01 353420 /usr/lib/libpng12.so.0.15.0 b72b1000-b72b2000 rw-p 00022000 08:01 353420 /usr/lib/libpng12.so.0.15.0 b72b2000-b72b4000 r-xp 00000000 08:01 353765 /usr/lib/libXau.so.6.0.0 b72b4000-b72b5000 rw-p 00001000 08:01 353765 /usr/lib/libXau.so.6.0.0 b72b5000-b72d4000 r-xp 00000000 08:01 353506 /usr/lib/libexpat.so.1.5.2 b72d4000-b72d6000 rw-p 0001e000 08:01 353506 /usr/lib/libexpat.so.1.5.2 b72d6000-b7340000 r-xp 00000000 08:01 353884 /usr/lib/libfreetype.so.6.3.16 b7340000-b7343000 rw-p 0006a000 08:01 353884 /usr/lib/libfreetype.so.6.3.16 b7343000-b7369000 r-xp 00000000 08:01 354329 /usr/lib/libpangoft2-1.0.so.0.2002.3 b7369000-b736a000 rw-p 00026000 08:01 354329 /usr/lib/libpangoft2-1.0.so.0.2002.3 b736a000-b736b000 rw-p b736a000 00:00 0 b736b000-b736d000 r-xp 00000000 08:01 353779 /usr/lib/libXdamage.so.1.1.0 b736d000-b736e000 rw-p 00001000 08:01 353779 /usr/lib/libXdamage.so.1.1.0 b736e000-b7370000 r-xp 00000000 08:01 353959 /usr/lib/libXcomposite.so.1.0.0 b7370000-b7371000 rw-p 00001000 08:01 353959 /usr/lib/libXcomposite.so.1.0.0 b7371000-b7397000 r-xp 00000000 08:01 353441 /usr/lib/libpcre.so.3.12.1 b7397000-b7398000 rw-p 00026000 08:01 353441 /usr/lib/libpcre.so.3.12.1 b7398000-b7399000 rw-p b7398000 00:00 0 b7399000-b74e2000 r-xp 00000000 08:01 144410 /lib/tls/i686/cmov/libc-2.7.so b74e2000-b74e3000 r--p 00149000 08:01 144410 /lib/tls/i686/cmov/libc-2.7.so b74e3000-b74e5000 rw-p 0014a000 08:01 144410 /lib/tls/i686/cmov/libc-2.7.so b74e5000-b74e8000 rw-p b74e5000 00:00 0 b74e8000-b74f2000 r-xp 00000000 08:01 144329 /lib/libgcc_s.so.1 b74f2000-b74f3000 rw-p 0000a000 08:01 144329 /lib/libgcc_s.so.1 b74f3000-b75db000 r-xp 00000000 08:01 353280 /usr/lib/libstdc++.so.6.0.9 b75db000-b75de000 r--p 000e8000 08:01 353280 /usr/lib/libstdc++.so.6.0.9 b75de000-b75e0000 rw-p 000eb000 08:01 353280 /usr/lib/libstdcHokuyoLaser::ReadLine() Read 26 bytes. ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Geoffrey Biggs schrieb: > The player_output.txt file is missing a lot. It's been cut off at the > top; by your terminal, probably. You need to run player like this: > > player config.cfg 2>&1 | tee player_output.txt > > Set the verbose option for the hokuyo_aist driver to true, as well. It > will make it easier for me to see what the library is doing to the port. > > Geoff > > > Markus Eich wrote: > >> Dear Geoff, >> >> find the logfiles attached. The config file i used was >> >> ================================== >> driver >> ( >> name "hokuyo_aist" >> provides ["ranger:0"] >> portopts "type=seriallog,device=/dev/ttyS1,timeout=1,baud=19200" >> baud_rate 19200 >> ) >> ===================================== >> >> for the port logger and >> ===================================== >> driver >> ( >> name "hokuyo_aist" >> provides ["ranger:0"] >> portopts "type=serial,device=/dev/ttyS1,timeout=1,debug=3, baud=19200" >> baud_rate 19200 >> ) >> ===================================== >> >> for the player_output.txt >> >> The error is always the same: first time connect works fine. Second >> connect bailout. >> >> >> >> >> >> gbiggs schrieb: >> >>> If you can send me some more information, I can try and fix this issue: >>> >>> 1) Add "debug=3" to your portopts line in your configuration file. This >>> will produce considerably more output. Save it to a file and post it here. >>> >>> 2) Remove the debug option, then change your port type to "seriallog" >>> and run Player again so that it produces the same error. This will >>> produce to output files, "port.logw" and "port.logr". Post them both >>> here. You might want to compress them. >>> >>> Geoff >>> >>> Markus Eich wrote: >>> >>> >>>> Dear all, >>>> >>>> when I try to use the Hokuyo_aist driver for player it works fine once. >>>> When I try to discon and reconnect the driver cannot connect anymore: >>>> >>>> Here the verbose output: >>>> ============================================================================================================ >>>> HokuyoLaser::GetAndSetSCIPVersion() Testing SCIP protocol version. >>>> HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is V, >>>> parameters length is 0 >>>> HokuyoLaser::ReadLine() Reading exactly 3 bytes. >>>> HokuyoLaser::ReadLine() Read 3 bytes. >>>> HokuyoLaser::ReadLine() Line is >>>> HokuyoLaser::GetAndSetSCIPVersion() Initial SCIP version 1 test failed. >>>> HokuyoLaser::SendCommand() Writing in SCIP2 mode. Command is VV, >>>> parameters length is 0 >>>> HokuyoLaser::ReadLine() Reading exactly 3 bytes. >>>> error : hokuyo_aist: Failed to setup laser driver: (9) SCIP versions 1 >>>> and 2 failed. >>>> warning : subscription failed for device ranger:0 >>>> error : Select called failed in File Watcher: 4 Interrupted system call >>>> >>>> ============================================================================================================ >>>> >>>> When killing and restarting the driver it seems to work. >>>> >>>> Any ideas to this issue? >>>> >>>> >>> ------------------------------------------------------------------------------ >>> SF.Net email is Sponsored by MIX09, March 18-20, 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/ >>> _______________________________________________ >>> Playerstage-users mailing list >>> Pla...@li... >>> https://lists.sourceforge.net/lists/listinfo/playerstage-users >>> >>> >> > > ------------------------------------------------------------------------------ > SF.Net email is Sponsored by MIX09, March 18-20, 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/ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > -- Dipl. Inform. Markus Eich Research Assistant DFKI Bremen German Research Center for Artificial Intelligence Email: mar...@df... Tel.: +49 (421) 218-64105 Fax : +49 (421) 218-64150 Room: 212 Postal address: Markus Eich DFKI Bremen Robert-Hooke-Strasse 5 28359 Bremen Germany Further informations: http://www.dfki.de/robotics ------------------------------------------------------------------------------------------- Deutsches Forschungszentrum für Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 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 |
From: gbiggs <gb...@ki...> - 2008-12-19 02:16:10
|
I've tracked these crashes down to two issues: 1) A double-free 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." :-) |
From: Markus E. <mar...@df...> - 2008-12-19 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 Serial-specific 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 URG-04LX;[ 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:URG-04LX(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 URG-04LX Firmware: 3.3.00(16/Apr./2008) Protocol: SCIP 2.0 Serial: H0611163 Model: URG-04LX(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 URG-04LX;[ 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:URG-04LX(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 URG-04LX Firmware: 3.3.00(16/Apr./2008) Protocol: SCIP 2.0 Serial: H0611163 Model: URG-04LX(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 double-free 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 18-20, 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/ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > -- Dipl. Inform. Markus Eich Research Assistant DFKI Bremen German Research Center for Artificial Intelligence Email: mar...@df... Tel.: +49 (421) 218-64105 Fax : +49 (421) 218-64150 Room: 212 Postal address: Markus Eich DFKI Bremen Robert-Hooke-Strasse 5 28359 Bremen Germany Further informations: http://www.dfki.de/robotics ------------------------------------------------------------------------------------------- Deutsches Forschungszentrum für Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 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 |
From: gbiggs <gb...@ki...> - 2008-12-22 02:46:32
|
I'm not sure the problem is needing to flush the port, as there shouldn't be any data on the port after changing the baud rate. Can you add the debug=3 option to that config file (leave verbose on as well) and send the log? Geoff Markus Eich wrote: > 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? |