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From: Len White <len@le...>  20090413 22:03:47
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I've recently tackled using Player for a robot project I'm working on. Installs and tests of Player with Stage have gone well. However, now I'm trying to test our actual sensors, starting with the UHG08LX. And, so far, Player is unable to show me the data from the laser. It is failing on trying to set the baud rate and then never gives any further data. I've installed the latest (SVN) versions of Player and Gearbox. Here's the simple config file I'm using: driver ( name "hokuyo_aist" provides ["ranger:0"] portopts "type=serial,device=/dev/ttyACM0,timeout=1" ) I know the nonPlayer API is working correctly since when I run the "hukuyo_aist_example" that came with Gearbox I see valid range data but the following error: Failed to change baud rate: (3) Bad response to SS command: 04 Not compatible with the sensor model And when running player with the above config file and then launching "playerv ranger": error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to SS command: 04 Not compatible with the sensor model error : Driver failed to Setup (1) If anyone has any ideas I'd be in your debt. I'm sort of at my wit's end and need help! Thanks. Len 
From: Geoffrey Biggs <gbiggs@ki...>  20090413 23:25:04

There are a couple of things you can try that will give us more information: 1) Set "verbose" to "true" in your config file for the driver. This will print out screeds of debugging data that you can post here. 2) Add "debug=3" to your portopts line, and set the port type to "seriallog". This will create two log files that you can compress and post here, which we can use to see exactly what is happening across the port. Geoff Len White wrote: > I've recently tackled using Player for a robot project I'm working on. > Installs and tests of Player with Stage have gone well. > However, now I'm trying to test our actual sensors, starting with the > UHG08LX. > And, so far, Player is unable to show me the data from the laser. > It is failing on trying to set the baud rate and then never gives any > further data. > I've installed the latest (SVN) versions of Player and Gearbox. > Here's the simple config file I'm using: > driver > ( > name "hokuyo_aist" > provides ["ranger:0"] > portopts "type=serial,device=/dev/ttyACM0,timeout=1" > ) > > I know the nonPlayer API is working correctly since when I run the > "hukuyo_aist_example" that came with Gearbox I see valid range data but > the following error: > Failed to change baud rate: (3) Bad response to SS command: 04 Not > compatible with the sensor model > > And when running player with the above config file and then launching > "playerv ranger": > error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to > SS command: 04 Not compatible with the sensor model > error : Driver failed to Setup (1) > > > If anyone has any ideas I'd be in your debt. > I'm sort of at my wit's end and need help! 
From: Len White <len@le...>  20090415 19:14:52
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Thanks for the help Geoff! I rebuilt player with the latest SVN release (I saw your log) and, unfortunately, the hokuyo_aist driver seems to be giving me the same result as previously. I've triple checked that I'm getting the latest and greatest. Here are some more discoveries/facts that may shed light on my issue and allow you to piece a coherent picture together: 1) I'm attaching a Hokuyo UGH08LX through a USB port on my Gentoo laptop. 2) If I use the older urglaser driver (see urglaser.cfg) it works! It gives me a slew of errors that the device should not measure beyond 5.6 meters but I commented those lines out in the code and it seems useable. 3) Using the hokuyo_aist driver, if I change my config file portopts to be *type=seriallog* instead of *type=serial* I start getting data in playerv! Otherwise I get nothing but the following player error: listening on 6665 Listening on ports: 6665 accepted TCP client 0 on port 6665, fd 5 error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to SS command: 04 Not compatible with the sensor model error : Driver failed to Setup (1) So... I also saw that Gearbox doesn't officially support USB devices. Is this true? If so, could this be the heart of my problem? I think I can move forward with the urglaser driver but several forum posts recommend the use of hokuyo_aist so I'm still interested in figuring this out. I'm happy to post debug and verbose output under seriallog if it could be valuable. Thanks again. Len On Mon, Apr 13, 2009 at 6:32 PM, Geoffrey Biggs <gbiggs@...> wrote: > Actually, after looking over the code and reading your email again, I > think I know what's going on. Player treats a failure to set the > baudrate as a fatal error for serial ports, whereas the example just > warns and keeps on going. This will be an easy fix, so I'll get > something into SVN for you today. If you're in a hurry, you just need to > remove lines 564 and 565 from the file > server/drivers/ranger/hokuyo_aist.cc in Player. > > Geoff > > Geoffrey Biggs wrote: > > There are a couple of things you can try that will give us more > information: > > > > 1) Set "verbose" to "true" in your config file for the driver. This will > > print out screeds of debugging data that you can post here. > > > > 2) Add "debug=3" to your portopts line, and set the port type to > > "seriallog". This will create two log files that you can compress and > > post here, which we can use to see exactly what is happening across the > > port. > > > >  > This SF.net email is sponsored by: > High Quality Requirements in a Collaborative Environment. > Download a free trial of Rational Requirements Composer Now! > http://p.sf.net/sfu/wwwibmcom > _______________________________________________ > Playerstageusers mailing list > Playerstageusers@... > https://lists.sourceforge.net/lists/listinfo/playerstageusers > 
From: Len White <len@le...>  20090416 14:32:12
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Thanks for any ideas. Here's the config: driver ( name "hokuyo_aist" provides ["ranger:0"] portopts "type=serial,device=/dev/ttyACM0,timeout=1" verbose 1 ) And here's the output: Registering driver Player v.2.2.0 * Part of the Player/Stage/Gazebo Project [ http://playerstage.sourceforge.net]. * Copyright (C) 2000  2009 Brian Gerkey, Richard Vaughan, Andrew Howard, * Nate Koenig, and contributors. Released under the GNU General Public License. * Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you * are welcome to redistribute it under certain conditions; see COPYING * for details. 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=serial,device=/dev/ttyACM0,timeout=1 HokuyoLaser::OpenWithProbing() Connected using serial connection. Base status: Debug level: 0 Timeout: 1.000000 Will block: 1 Permissions: rw Serialspecific status: Device: /dev/ttyACM0 Baud rate: 9600 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 39 bytes. HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG08LX(HiURG);2 HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from a line length of 38 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given checksum = 50 (2) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 28 bytes. HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from a line length of 27 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given checksum = 83 (S) 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:H0710175;J HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given checksum = 74 (J) 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 52 bytes. HokuyoLaser::ReadLine() Line is MODL:UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.);l HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from a line length of 51 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given checksum = 108 (l) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 10 bytes. HokuyoLaser::ReadLine() Line is DMIN:30;5 HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given checksum = 53 (5) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 13 bytes. HokuyoLaser::ReadLine() Line is DMAX:11000;F HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from a line length of 12 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given checksum = 70 (F) 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 9 bytes. HokuyoLaser::ReadLine() Line is AMIN:0;? HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a line length of 8 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given checksum = 63 (?) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 11 bytes. HokuyoLaser::ReadLine() Line is AMAX:768;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 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:900;h HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given checksum = 104 (h) 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(900[rpm])<Default setting by user;D HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from a line length of 49 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given checksum = 68 (D) 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 16 bytes. HokuyoLaser::ReadLine() Line is SBPS:USB only;n HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given checksum = 110 (n) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 14 bytes. HokuyoLaser::ReadLine() Line is TIME:01A4D3;f HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from a line length of 13 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 102 (f), given checksum = 102 (f) 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 UHG08LX(HiURG) Firmware: 1.0.02(26/Feb./2008) Protocol: SCIP 2.0 Serial: H0710175 Model: UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.) Mininum range: 30mm Maximum range: 11000mm Steps in 360 degrees: 1024 Scanable steps: 769 First step: 0 Front step: 384 Last step: 768 Resolution: 0.00613592 radians/step Minimum angle: 2.35619 radians Maximum angle: 2.35619 radians Standard motor speed: 900rpm Power status: On Measurement state: Measuring by Normal Mode Motor speed: 900rpm (level 0) Baud rate: 0bps Time stamp: 107731ms Sensor diagnostic: Sensor works well. HokuyoLaser::GetDefaults() Got default values: 2.35619 2.35619 0.00613592 0 768 384 11000 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 39 bytes. HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG08LX(HiURG);2 HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from a line length of 38 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given checksum = 50 (2) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 28 bytes. HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from a line length of 27 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given checksum = 83 (S) 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:H0710175;J HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given checksum = 74 (J) 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 52 bytes. HokuyoLaser::ReadLine() Line is MODL:UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.);l HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from a line length of 51 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given checksum = 108 (l) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 10 bytes. HokuyoLaser::ReadLine() Line is DMIN:30;5 HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a line length of 9 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given checksum = 53 (5) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 13 bytes. HokuyoLaser::ReadLine() Line is DMAX:11000;F HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from a line length of 12 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given checksum = 70 (F) 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 9 bytes. HokuyoLaser::ReadLine() Line is AMIN:0;? HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a line length of 8 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given checksum = 63 (?) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 11 bytes. HokuyoLaser::ReadLine() Line is AMAX:768;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 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:900;h HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a line length of 10 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given checksum = 104 (h) 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(900[rpm])<Default setting by user;D HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from a line length of 49 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given checksum = 68 (D) 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 16 bytes. HokuyoLaser::ReadLine() Line is SBPS:USB only;n HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from a line length of 15 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given checksum = 110 (n) HokuyoLaser::ReadLine() Reading up to 67 bytes. HokuyoLaser::ReadLine() Read 14 bytes. HokuyoLaser::ReadLine() Line is TIME:01A59B;k HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from a line length of 13 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 107 (k), given checksum = 107 (k) 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 UHG08LX(HiURG) Firmware: 1.0.02(26/Feb./2008) Protocol: SCIP 2.0 Serial: H0710175 Model: UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.) Mininum range: 30mm Maximum range: 11000mm Steps in 360 degrees: 1024 Scanable steps: 769 First step: 0 Front step: 384 Last step: 768 Resolution: 0.00613592 radians/step Minimum angle: 2.35619 radians Maximum angle: 2.35619 radians Standard motor speed: 900rpm Power status: On Measurement state: Measuring by Normal Mode Motor speed: 900rpm (level 0) Baud rate: 0bps Time stamp: 107931ms 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 04T HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a line length of 3 bytes. HokuyoLaser::ReadLineWithCheck() Calculated checksum = 84 (T), given checksum = 84 (T) HokuyoLaser::SendCommand() Command response status: 04 HokuyoLaser::SkipLines() Skipping 1 lines. error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to SS command: 04 Not compatible with the sensor model error : Driver failed to Setup (1) ^Cerror : Select called failed in File Watcher: 4 Interrupted system call Quitting. closing TCP connection to client 0 on port 6665 
From: Geoffrey Biggs <gbiggs@ki...>  20090413 23:32:27

Actually, after looking over the code and reading your email again, I think I know what's going on. Player treats a failure to set the baudrate as a fatal error for serial ports, whereas the example just warns and keeps on going. This will be an easy fix, so I'll get something into SVN for you today. If you're in a hurry, you just need to remove lines 564 and 565 from the file server/drivers/ranger/hokuyo_aist.cc in Player. Geoff Geoffrey Biggs wrote: > There are a couple of things you can try that will give us more information: > > 1) Set "verbose" to "true" in your config file for the driver. This will > print out screeds of debugging data that you can post here. > > 2) Add "debug=3" to your portopts line, and set the port type to > "seriallog". This will create two log files that you can compress and > post here, which we can use to see exactly what is happening across the > port. 
From: gbiggs <gbiggs@ki...>  20090416 00:51:08

Using type=serial, try setting "verbose" to true in your Player config file for the hokuyo_aist driver. Then post the output here. From that we should be able to see exactly what the library is doing before it throws the error. The Gearbox flexiport library used by hokuyo_aist for communication doesn't support pure USB, but it supports serialoverUSB, which is what the Hokuyo lasers use. Geoff Len White wrote: > Thanks for the help Geoff! > I rebuilt player with the latest SVN release (I saw your log) and, > unfortunately, the hokuyo_aist driver seems to be giving me the same > result as previously. I've triple checked that I'm getting the latest > and greatest. > Here are some more discoveries/facts that may shed light on my issue and > allow you to piece a coherent picture together: > 1) I'm attaching a Hokuyo UGH08LX through a USB port on my Gentoo laptop. > 2) If I use the older urglaser driver (see urglaser.cfg) it works! It > gives me a slew of errors that the device should not measure beyond 5.6 > meters but I commented those lines out in the code and it seems useable. > 3) Using the hokuyo_aist driver, if I change my config file portopts to > be *type=seriallog* instead of *type=serial* I start getting data in > playerv! Otherwise I get nothing but the following player error: > listening on 6665 > Listening on ports: 6665 > accepted TCP client 0 on port 6665, fd 5 > error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to > SS command: 04 Not compatible with the sensor model > error : Driver failed to Setup (1) > > So... > I also saw that Gearbox doesn't officially support USB devices. Is this > true? If so, could this be the heart of my problem? > I think I can move forward with the urglaser driver but several forum > posts recommend the use of hokuyo_aist so I'm still interested in > figuring this out. > I'm happy to post debug and verbose output under seriallog if it could > be valuable. > > Thanks again. > Len 
From: gbiggs <gbiggs@ki...>  20090417 02:08:26

I can't reproduce this behaviour. Even when I force the library to throw an exception when trying to set the baud rate, the Player driver catches it, gives a warning and moves on, as it should. Are you certain you are using the latest SVN versions of Gearbox and Player? Make sure lines 563573 of hokuyo_aist.cc, the Player driver, look like this: try { _device.SetBaud (_baudRate.GetValue ()); } catch (hokuyo_aist::HokuyoError &e) { if (e.Code () == hokuyo_aist::HOKUYO_ERR_NOTSERIAL) PLAYER_WARN ("hokuyo_aist: Cannot change the baud rate of a nonserial connection."); else PLAYER_WARN2 ("hokuyo_aist: Error changing baud rate: (%d) %s", e.Code (), e.what ()); } Although better formatted, obviously. Geoff Len White wrote: > Thanks for any ideas. > > Here's the config: > driver > ( > name "hokuyo_aist" > provides ["ranger:0"] > portopts "type=serial,device=/dev/ttyACM0,timeout=1" > verbose 1 > ) > > And here's the output: > > Registering driver > Player v.2.2.0 > > * Part of the Player/Stage/Gazebo Project > [http://playerstage.sourceforge.net]. > * Copyright (C) 2000  2009 Brian Gerkey, Richard Vaughan, Andrew Howard, > * Nate Koenig, and contributors. Released under the GNU General Public > License. > * Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you > * are welcome to redistribute it under certain conditions; see COPYING > * for details. > > 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=serial,device=/dev/ttyACM0,timeout=1 > HokuyoLaser::OpenWithProbing() Connected using serial connection. > Base status: > Debug level: 0 Timeout: 1.000000 > Will block: 1 Permissions: rw > Serialspecific status: > Device: /dev/ttyACM0 > Baud rate: 9600 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 39 bytes. > HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG08LX(HiURG);2 > HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from > a line length of 38 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given > checksum = 50 (2) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 28 bytes. > HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S > HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from > a line length of 27 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given > checksum = 83 (S) > 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:H0710175;J > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > a line length of 15 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given > checksum = 74 (J) > 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 52 bytes. > HokuyoLaser::ReadLine() Line is MODL:UHG08LX[HiURG](Hokuyo Automatic > Co., Ltd.);l > HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from > a line length of 51 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given > checksum = 108 (l) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 10 bytes. > HokuyoLaser::ReadLine() Line is DMIN:30;5 > HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a > line length of 9 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given > checksum = 53 (5) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 13 bytes. > HokuyoLaser::ReadLine() Line is DMAX:11000;F > HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from > a line length of 12 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given > checksum = 70 (F) > 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 9 bytes. > HokuyoLaser::ReadLine() Line is AMIN:0;? > HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a > line length of 8 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given > checksum = 63 (?) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 11 bytes. > HokuyoLaser::ReadLine() Line is AMAX:768;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 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:900;h > HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a > line length of 10 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given > checksum = 104 (h) > 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(900[rpm])<Default setting > by user;D > HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from > a line length of 49 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given > checksum = 68 (D) > 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 16 bytes. > HokuyoLaser::ReadLine() Line is SBPS:USB only;n > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > a line length of 15 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given > checksum = 110 (n) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 14 bytes. > HokuyoLaser::ReadLine() Line is TIME:01A4D3;f > HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from > a line length of 13 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 102 (f), given > checksum = 102 (f) > 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 UHG08LX(HiURG) > Firmware: 1.0.02(26/Feb./2008) > Protocol: SCIP 2.0 > Serial: H0710175 > Model: UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.) > Mininum range: 30mm Maximum range: 11000mm > Steps in 360 degrees: 1024 Scanable steps: 769 > First step: 0 Front step: 384 Last step: 768 > Resolution: 0.00613592 radians/step > Minimum angle: 2.35619 radians Maximum angle: 2.35619 radians > Standard motor speed: 900rpm > Power status: On Measurement state: Measuring by Normal Mode > Motor speed: 900rpm (level 0) Baud rate: 0bps > Time stamp: 107731ms > Sensor diagnostic: Sensor works well. > HokuyoLaser::GetDefaults() Got default values: 2.35619 2.35619 > 0.00613592 0 768 384 11000 > 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 39 bytes. > HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG08LX(HiURG);2 > HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from > a line length of 38 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given > checksum = 50 (2) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 28 bytes. > HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S > HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from > a line length of 27 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given > checksum = 83 (S) > 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:H0710175;J > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > a line length of 15 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given > checksum = 74 (J) > 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 52 bytes. > HokuyoLaser::ReadLine() Line is MODL:UHG08LX[HiURG](Hokuyo Automatic > Co., Ltd.);l > HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from > a line length of 51 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given > checksum = 108 (l) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 10 bytes. > HokuyoLaser::ReadLine() Line is DMIN:30;5 > HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a > line length of 9 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given > checksum = 53 (5) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 13 bytes. > HokuyoLaser::ReadLine() Line is DMAX:11000;F > HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from > a line length of 12 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given > checksum = 70 (F) > 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 9 bytes. > HokuyoLaser::ReadLine() Line is AMIN:0;? > HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a > line length of 8 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given > checksum = 63 (?) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 11 bytes. > HokuyoLaser::ReadLine() Line is AMAX:768;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 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:900;h > HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a > line length of 10 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given > checksum = 104 (h) > 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(900[rpm])<Default setting > by user;D > HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from > a line length of 49 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given > checksum = 68 (D) > 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 16 bytes. > HokuyoLaser::ReadLine() Line is SBPS:USB only;n > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > a line length of 15 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given > checksum = 110 (n) > HokuyoLaser::ReadLine() Reading up to 67 bytes. > HokuyoLaser::ReadLine() Read 14 bytes. > HokuyoLaser::ReadLine() Line is TIME:01A59B;k > HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from > a line length of 13 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 107 (k), given > checksum = 107 (k) > 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 UHG08LX(HiURG) > Firmware: 1.0.02(26/Feb./2008) > Protocol: SCIP 2.0 > Serial: H0710175 > Model: UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.) > Mininum range: 30mm Maximum range: 11000mm > Steps in 360 degrees: 1024 Scanable steps: 769 > First step: 0 Front step: 384 Last step: 768 > Resolution: 0.00613592 radians/step > Minimum angle: 2.35619 radians Maximum angle: 2.35619 radians > Standard motor speed: 900rpm > Power status: On Measurement state: Measuring by Normal Mode > Motor speed: 900rpm (level 0) Baud rate: 0bps > Time stamp: 107931ms > 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 04T > HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a > line length of 3 bytes. > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 84 (T), given > checksum = 84 (T) > HokuyoLaser::SendCommand() Command response status: 04 > HokuyoLaser::SkipLines() Skipping 1 lines. > error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to > SS command: 04 Not compatible with the sensor model > error : Driver failed to Setup (1) > ^Cerror : Select called failed in File Watcher: 4 Interrupted system call > Quitting. > closing TCP connection to client 0 on port 6665 > > >  > >  > Stay on top of everything new and different, both inside and > around Java (TM) technology  register by April 22, and save > $200 on the JavaOne (SM) conference, June 25, 2009, San Francisco. > 300 plus technical and handson sessions. Register today. > Use priority code J9JMT32. http://p.sf.net/sfu/p > > >  > > _______________________________________________ > Playerstageusers mailing list > Playerstageusers@... > https://lists.sourceforge.net/lists/listinfo/playerstageusers 
From: Len White <len@le...>  20090428 21:15:38
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I just got back to this problem but, given my need to use the Point Grey stereo functions, I just switched from 64bit Gentoo to 32bit Ubuntu 9.04. Just wanted to say that your suggestion worked great on the new system. I downloaded the latest Gearbox (hokuyo driver) and Player from Subversion, built, and the laser works great. I see the expected baud rate error but it doesn't halt player. I'm able to get data now. Thanks for the help! Len On Thu, Apr 16, 2009 at 10:06 PM, gbiggs <gbiggs@...> wrote: > I can't reproduce this behaviour. Even when I force the library to throw > an exception when trying to set the baud rate, the Player driver catches > it, gives a warning and moves on, as it should. Are you certain you are > using the latest SVN versions of Gearbox and Player? Make sure lines > 563573 of hokuyo_aist.cc, the Player driver, look like this: > > try > { > _device.SetBaud (_baudRate.GetValue ()); > } > catch (hokuyo_aist::HokuyoError &e) > { > if (e.Code () == hokuyo_aist::HOKUYO_ERR_NOTSERIAL) > PLAYER_WARN ("hokuyo_aist: Cannot change the > baud rate of a > nonserial connection."); > else > PLAYER_WARN2 ("hokuyo_aist: Error changing > baud rate: (%d) %s", > e.Code (), e.what ()); > } > > Although better formatted, obviously. > > Geoff > > > Len White wrote: > > Thanks for any ideas. > > > > Here's the config: > > driver > > ( > > name "hokuyo_aist" > > provides ["ranger:0"] > > portopts "type=serial,device=/dev/ttyACM0,timeout=1" > > verbose 1 > > ) > > > > And here's the output: > > > > Registering driver > > Player v.2.2.0 > > > > * Part of the Player/Stage/Gazebo Project > > [http://playerstage.sourceforge.net]. > > * Copyright (C) 2000  2009 Brian Gerkey, Richard Vaughan, Andrew Howard, > > * Nate Koenig, and contributors. Released under the GNU General Public > > License. > > * Player comes with ABSOLUTELY NO WARRANTY. This is free software, and > you > > * are welcome to redistribute it under certain conditions; see COPYING > > * for details. > > > > 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=serial,device=/dev/ttyACM0,timeout=1 > > HokuyoLaser::OpenWithProbing() Connected using serial connection. > > Base status: > > Debug level: 0 Timeout: 1.000000 > > Will block: 1 Permissions: rw > > Serialspecific status: > > Device: /dev/ttyACM0 > > Baud rate: 9600 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 39 bytes. > > HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG08LX(HiURG);2 > > HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from > > a line length of 38 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given > > checksum = 50 (2) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 28 bytes. > > HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S > > HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from > > a line length of 27 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given > > checksum = 83 (S) > > 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:H0710175;J > > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > > a line length of 15 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given > > checksum = 74 (J) > > 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 52 bytes. > > HokuyoLaser::ReadLine() Line is MODL:UHG08LX[HiURG](Hokuyo Automatic > > Co., Ltd.);l > > HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from > > a line length of 51 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given > > checksum = 108 (l) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 10 bytes. > > HokuyoLaser::ReadLine() Line is DMIN:30;5 > > HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a > > line length of 9 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given > > checksum = 53 (5) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 13 bytes. > > HokuyoLaser::ReadLine() Line is DMAX:11000;F > > HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from > > a line length of 12 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given > > checksum = 70 (F) > > 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 9 bytes. > > HokuyoLaser::ReadLine() Line is AMIN:0;? > > HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a > > line length of 8 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given > > checksum = 63 (?) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 11 bytes. > > HokuyoLaser::ReadLine() Line is AMAX:768;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 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:900;h > > HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a > > line length of 10 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given > > checksum = 104 (h) > > 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(900[rpm])<Default setting > > by user;D > > HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from > > a line length of 49 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given > > checksum = 68 (D) > > 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 16 bytes. > > HokuyoLaser::ReadLine() Line is SBPS:USB only;n > > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > > a line length of 15 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given > > checksum = 110 (n) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 14 bytes. > > HokuyoLaser::ReadLine() Line is TIME:01A4D3;f > > HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from > > a line length of 13 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 102 (f), given > > checksum = 102 (f) > > 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 UHG08LX(HiURG) > > Firmware: 1.0.02(26/Feb./2008) > > Protocol: SCIP 2.0 > > Serial: H0710175 > > Model: UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.) > > Mininum range: 30mm Maximum range: 11000mm > > Steps in 360 degrees: 1024 Scanable steps: 769 > > First step: 0 Front step: 384 Last step: 768 > > Resolution: 0.00613592 radians/step > > Minimum angle: 2.35619 radians Maximum angle: 2.35619 radians > > Standard motor speed: 900rpm > > Power status: On Measurement state: Measuring by Normal Mode > > Motor speed: 900rpm (level 0) Baud rate: 0bps > > Time stamp: 107731ms > > Sensor diagnostic: Sensor works well. > > HokuyoLaser::GetDefaults() Got default values: 2.35619 2.35619 > > 0.00613592 0 768 384 11000 > > 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 39 bytes. > > HokuyoLaser::ReadLine() Line is PROD:SOKUIKI Sensor UHG08LX(HiURG);2 > > HokuyoLaser::ReadLineWithCheck() Considering 36 bytes for checksum from > > a line length of 38 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 50 (2), given > > checksum = 50 (2) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 28 bytes. > > HokuyoLaser::ReadLine() Line is FIRM:1.0.02(26/Feb./2008);S > > HokuyoLaser::ReadLineWithCheck() Considering 25 bytes for checksum from > > a line length of 27 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 83 (S), given > > checksum = 83 (S) > > 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:H0710175;J > > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > > a line length of 15 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 74 (J), given > > checksum = 74 (J) > > 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 52 bytes. > > HokuyoLaser::ReadLine() Line is MODL:UHG08LX[HiURG](Hokuyo Automatic > > Co., Ltd.);l > > HokuyoLaser::ReadLineWithCheck() Considering 49 bytes for checksum from > > a line length of 51 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 108 (l), given > > checksum = 108 (l) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 10 bytes. > > HokuyoLaser::ReadLine() Line is DMIN:30;5 > > HokuyoLaser::ReadLineWithCheck() Considering 7 bytes for checksum from a > > line length of 9 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 53 (5), given > > checksum = 53 (5) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 13 bytes. > > HokuyoLaser::ReadLine() Line is DMAX:11000;F > > HokuyoLaser::ReadLineWithCheck() Considering 10 bytes for checksum from > > a line length of 12 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 70 (F), given > > checksum = 70 (F) > > 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 9 bytes. > > HokuyoLaser::ReadLine() Line is AMIN:0;? > > HokuyoLaser::ReadLineWithCheck() Considering 6 bytes for checksum from a > > line length of 8 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 63 (?), given > > checksum = 63 (?) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 11 bytes. > > HokuyoLaser::ReadLine() Line is AMAX:768;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 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:900;h > > HokuyoLaser::ReadLineWithCheck() Considering 8 bytes for checksum from a > > line length of 10 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 104 (h), given > > checksum = 104 (h) > > 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(900[rpm])<Default setting > > by user;D > > HokuyoLaser::ReadLineWithCheck() Considering 47 bytes for checksum from > > a line length of 49 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 68 (D), given > > checksum = 68 (D) > > 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 16 bytes. > > HokuyoLaser::ReadLine() Line is SBPS:USB only;n > > HokuyoLaser::ReadLineWithCheck() Considering 13 bytes for checksum from > > a line length of 15 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 110 (n), given > > checksum = 110 (n) > > HokuyoLaser::ReadLine() Reading up to 67 bytes. > > HokuyoLaser::ReadLine() Read 14 bytes. > > HokuyoLaser::ReadLine() Line is TIME:01A59B;k > > HokuyoLaser::ReadLineWithCheck() Considering 11 bytes for checksum from > > a line length of 13 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 107 (k), given > > checksum = 107 (k) > > 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 UHG08LX(HiURG) > > Firmware: 1.0.02(26/Feb./2008) > > Protocol: SCIP 2.0 > > Serial: H0710175 > > Model: UHG08LX[HiURG](Hokuyo Automatic Co., Ltd.) > > Mininum range: 30mm Maximum range: 11000mm > > Steps in 360 degrees: 1024 Scanable steps: 769 > > First step: 0 Front step: 384 Last step: 768 > > Resolution: 0.00613592 radians/step > > Minimum angle: 2.35619 radians Maximum angle: 2.35619 radians > > Standard motor speed: 900rpm > > Power status: On Measurement state: Measuring by Normal Mode > > Motor speed: 900rpm (level 0) Baud rate: 0bps > > Time stamp: 107931ms > > 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 04T > > HokuyoLaser::ReadLineWithCheck() Considering 2 bytes for checksum from a > > line length of 3 bytes. > > HokuyoLaser::ReadLineWithCheck() Calculated checksum = 84 (T), given > > checksum = 84 (T) > > HokuyoLaser::SendCommand() Command response status: 04 > > HokuyoLaser::SkipLines() Skipping 1 lines. > > error : hokuyo_aist: Failed to setup laser driver: (3) Bad response to > > SS command: 04 Not compatible with the sensor model > > error : Driver failed to Setup (1) > > ^Cerror : Select called failed in File Watcher: 4 Interrupted system > call > > Quitting. > > closing TCP connection to client 0 on port 6665 > > > > > >  > > > > >  > > Stay on top of everything new and different, both inside and > > around Java (TM) technology  register by April 22, and save > > $200 on the JavaOne (SM) conference, June 25, 2009, San Francisco. > > 300 plus technical and handson sessions. Register today. > > Use priority code J9JMT32. http://p.sf.net/sfu/p > > > > > >  > > > > _______________________________________________ > > Playerstageusers mailing list > > Playerstageusers@... > > https://lists.sourceforge.net/lists/listinfo/playerstageusers > > >  > Stay on top of everything new and different, both inside and > around Java (TM) technology  register by April 22, and save > $200 on the JavaOne (SM) conference, June 25, 2009, San Francisco. > 300 plus technical and handson sessions. Register today. > Use priority code J9JMT32. http://p.sf.net/sfu/p > _______________________________________________ > Playerstageusers mailing list > Playerstageusers@... > https://lists.sourceforge.net/lists/listinfo/playerstageusers > 