Laser capturing should not restart completely in case of EINTR error in poll

[dkargin]

hokuyo_node gets a lot of system interrupts on Odroid-U3 ARM computer. Node is compiled from git sources using indigo-devel branch. Console output:

[ WARN] [1415371167.852530539]: Exception thrown while trying to get scan.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ INFO] [1415371169.317443996]: Starting calibration. This will take up a few seconds.
[ERROR] [1415371170.243433553]: Exception thrown while opening Hokuyo.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ INFO] [1415371171.607527546]: Starting calibration. This will take up a few seconds.
[ INFO] [1415371172.380124064]: Calibration finished. Latency is: -0.0231
[ INFO] [1415371172.460250975]: Streaming data.
[ WARN] [1415371194.787560863]: Exception thrown while trying to get scan.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ WARN] [1415371196.307496832]: Exception thrown while trying to get scan.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ INFO] [1415371197.845412344]: Starting calibration. This will take up a few seconds.
[ERROR] [1415371198.546091201]: Exception thrown while opening Hokuyo.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ INFO] [1415371199.911524418]: Starting calibration. This will take up a few seconds.
[ INFO] [1415371200.683881065]: Calibration finished. Latency is: -0.0234
[ INFO] [1415371200.764215685]: Streaming data.
[ WARN] [1415371212.862548775]: Exception thrown while trying to get scan.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ INFO] [1415371214.405870943]: Streaming data.
[ WARN] [1415371215.447460919]: Exception thrown while trying to get scan.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ INFO] [1415371216.938956223]: Starting calibration. This will take up a few seconds.
[ INFO] [1415371217.711115080]: Calibration finished. Latency is: -0.0230
[ INFO] [1415371217.792954917]: Streaming data.
[ WARN] [1415371219.357545351]: Exception thrown while trying to get scan.
poll failed   --  error = 4: Interrupted system call (in hokuyo::laser::laserReadline) You may find further details at http://www.ros.org/wiki/hokuyo_node/Troubleshooting
[ INFO] [1415371220.903141531]: Streaming data.

Laser is restarting every time poll gets EINTR error, it happens several times per minute and capture stops for a quite long time.

[chadrockey]

@FrostHand does urg_node have similar issues? https://github.com/ros-drivers/urg_node

Can you also verify your Hokuyo has the latest firmware?

It's also possible your power supply is not sufficient/bad wiring. Is this a USB powered hokuyo?

[dkargin]

I would check urg_node on monday. We use 30LX rangefinder, it is connected to USB, but powered from the separate cable, using 30W power supply. There can be issues with USB controller, but I guess we cannot get rid of them completely. Hardware is hard. I have hacked EINTR error code checking, it has improved driver performance. There were still some delays in data capture, but they were quite minor.