Can't communicate with Sick Tim781

[akashjinandra]

Hello, I'm running Ubuntu 20.04, with ROS 1 Noetic. I'm trying to talk to a Sick TIM781 sensor with firmware v5.10. I was able to ping the device, and then use SOPAS to change the communication to binary. But I still get an error saying it can't communicate and is not getting the expected answer. Here is the full readout:

ROS_MASTER_URI=http://localhost:11311

process[sick_tim_7xx-1]: started with pid [322158] [ INFO] [1721348868.706815175]: sick_generic_caller V. 3.4.0 [ INFO] [1721348868.707611033]: Program argument 1: /home/akash/hfa_ws/devel_isolated/sick_scan_xd/lib/sick_scan_xd/sick_generic_caller [ INFO] [1721348868.707640634]: Program argument 2: __log:=/home/akash/.ros/log/07046054-445b-11ef-b03c-0b48c101c823/sick_tim_7xx-1.log [ INFO] [1721348868.707650405]: Program argument 3: __name:=sick_tim_7xx [ INFO] [1721348868.707660402]: ========================================== [ INFO] [1721348868.711701691]: SickTransformPublisher: broadcasting TF messages parent_frame_id="map", child_frame_id="cloud", (x,y,z,roll,pitch,yaw)=(0.0,0.0,0.0,0.0,0.0,0.0), rate=10.0 [ INFO] [1721348868.712722688]: Range filter configuration: range_min=0, range_max=100, range_filter_handling=0 [ INFO] [1721348868.714008978]: Found sopas_protocol_type param overwriting default protocol: [ INFO] [1721348868.714034421]: Binary protocol activated [ INFO] [1721348868.714935894]: PointCloudMonitor started. [ INFO] [1721348868.714955833]: Start initialising scanner [Ip: 192.168.100.121] [Port:2112] [ INFO] [1721348868.735987792]: Publishing on topic "/sick_tim_7xx/lferec", qos=10 [ INFO] [1721348868.736449774]: Publishing on topic "/sick_tim_7xx/lidoutputstate", qos=10 [ INFO] [1721348868.736812280]: Publishing on topic "/sick_tim_7xx/marker", qos=10 [ INFO] [1721348868.737306813]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0) [ INFO] [1721348868.737315825]: SickCloudTransform: azimuth_offset = 0 [deg] [ INFO] [1721348868.737326245]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) } [ INFO] [1721348868.737333851]: SickCloudTransform: apply 3x3 rotation = false [ INFO] [1721348868.737340998]: SickCloudTransform: additional translation = (0,0,0) [ INFO] [1721348868.737348848]: SickCloudTransform: check_dynamic_updates = false [ INFO] [1721348868.737381086]: Publishing lidar pointcloud2 to cloud [ INFO] [1721348868.737501973]: Publishing on topic "/cloud", qos=10 [ INFO] [1721348868.737862893]: Publishing on topic "/sick_tim_7xx/imu", qos=10 [ INFO] [1721348868.738160463]: Publishing on topic "/sick_tim_7xx/encoder", qos=10 [ INFO] [1721348868.738476130]: Publishing on topic "/scan", qos=10 [ INFO] [1721348868.738948083]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0) [ INFO] [1721348868.738956843]: SickCloudTransform: azimuth_offset = 0 [deg] [ INFO] [1721348868.738967528]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) } [ INFO] [1721348868.738975185]: SickCloudTransform: apply 3x3 rotation = false [ INFO] [1721348868.738982568]: SickCloudTransform: additional translation = (0,0,0) [ INFO] [1721348868.738991701]: SickCloudTransform: check_dynamic_updates = false [ INFO] [1721348868.739022377]: sick_scan_xd: Tcp::open: connecting to 192.168.100.121:2112 ... [ INFO] [1721348868.739646951]: sick_scan_xd Tcp::open: connected to 192.168.100.121:2112 [ INFO] [1721348868.739765460]: SickThread TcpRecvThread started. [ INFO] [1721348868.740680908]: Parameter setting for <active_echo: 0> [ INFO] [1721348868.742029990]: Sending : <STX><STX><STX><STX><Len=0017>sRN SCdevicestate CRC:<0x30> [ INFO] [1721348868.743799576]: Receiving: <STX>sRA SCdevicestate \x01<ETX> [ INFO] [1721348868.743848127]: checkColaDialect: lidar response in configured Cola-dialect Cola-B [ INFO] [1721348868.944213132]: Sending : <STX><STX><STX><STX><Len=0023>sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3> [ INFO] [1721348868.946663775]: Receiving: <STX>sAN SetAccessMode \x00<ETX> [ INFO] [1721348869.147025367]: Sending : <STX><STX><STX><STX><Len=0015>sWN EIHstCola 0x01 CRC:<0x09> [ INFO] [1721348869.148836878]: Receiving: <STX>sFA\x00\x0a<ETX> [ WARN] [1721348869.148933552]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0015>sWN EIHstCola 0x01 CRC:<0x09>, received answer: "sFA\x00\x0a", expected patterns: "sWA EIHstCola","sAN EIHstCola" [ WARN] [1721348874.149309369]: Timeout during waiting for new datagram [ WARN] [1721348874.149446382]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0015>sWN EIHstCola 0x01 CRC:<0x09>, received answer: "", expected patterns: "sWA EIHstCola","sAN EIHstCola" [ERROR] [1721348874.149554899]: Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0015>sWN EIHstCola 0x01 CRC:<0x09>, giving up after 1 unexpected answers. [ INFO] [1721348874.149617679]: Failed to init scanner Error Code: 1 Waiting for timeout... If the communication mode set in the scanner memory is different from that used by the driver, the scanner's communication mode is changed. This requires a restart of the TCP-IP connection, which can extend the start time by up to 30 seconds. There are two ways to prevent this:

1. [Recommended] Set the communication mode with the SOPAS ET software to binary and save this setting in the scanner's EEPROM.
2. Use the parameter "use_binary_protocol" to overwrite the default settings of the driver. [ERROR] [1721348874.149687649]: ## ERROR in mainGenericLaser: init failed, retrying... [ INFO] [1721348874.149724095]: Start initialising scanner [Ip: 192.168.100.121] [Port:2112] [ WARN] [1721348874.149760133]: Disconnecting TCP-Connection. [ERROR] [1721348874.150024228]: Tcp::readInputData: Read 0 bytes, connection is lost! [ INFO] [1721348874.150129095]: SickThread TcpRecvThread finished (flags: threadShouldRun=0, endThread=0). SickScanCommon closed.

Let me know if I can gather any more useful info.