Bugfix #158 (driver termination)

Modified sopas startup sequence

Author: rostest

CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package sick_scan
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.12.0
+-------------------
+* bugfix #158 (driver terminates)
+* modified SOPAS-startup sequence
+
+
+1.11.0 (2021-07-13)
+-------------------
+* Added option min_intensity
+
 1.10.1 (2021-03-18)
 -------------------
 * Update ipconfig.md

driver/src/sick_generic_caller.cpp

@@ -120,8 +120,8 @@
 // 1.7.6: 2020-07-14: NAV310 handling optimized (angle calculation and compensation), barebone quaterion to euler
 // 1.7.7: 2020-07-21: barebone quaterion to euler
 #define SICK_GENERIC_MAJOR_VER "1"
-#define SICK_GENERIC_MINOR_VER "10"
-#define SICK_GENERIC_PATCH_LEVEL "1"
+#define SICK_GENERIC_MINOR_VER "12"
+#define SICK_GENERIC_PATCH_LEVEL "0"
 
 #include <algorithm> // for std::min
 
@@ -131,7 +131,7 @@ std::string getVersionInfo();
 /*!
 \brief Startup routine - if called with no argmuments we assume debug session.
        Set scanner name variable by parsing for "__name:=". This will be changed in the future
-	   by setting a parameter. Calls mainGenericLaser after parsing.
+       by setting a parameter. Calls mainGenericLaser after parsing.
 
 \param argc: Number of Arguments
 \param argv: Argument variable

driver/src/sick_scan_common.cpp

@@ -2434,20 +2434,6 @@ namespace sick_scan
     }
     else
     {
-      // initializing sequence for laserscanner
-      // is this device a TiM240????
-      // The TiM240 can not interpret CMD_START_MEASUREMENT
-      if (this->parser_->getCurrentParamPtr()->getScannerName().compare(SICK_SCANNER_TIM_240_NAME) == 0)
-      {
-        // the TiM240 operates directly in the ros coordinate system
-        // do nothing for a TiM240
-      }
-      else
-      {
-        startProtocolSequence.push_back(CMD_START_MEASUREMENT);
-      }
-      startProtocolSequence.push_back(CMD_RUN);  // leave user level
-      startProtocolSequence.push_back(CMD_START_SCANDATA);
 
       if (parser_->getCurrentParamPtr()->getUseEvalFields() == USE_EVAL_FIELD_TIM7XX_LOGIC || parser_->getCurrentParamPtr()->getUseEvalFields() == USE_EVAL_FIELD_LMS5XX_LOGIC)
       {
@@ -2472,6 +2458,21 @@ namespace sick_scan
         }
       }
 
+      // initializing sequence for laserscanner
+      // is this device a TiM240????
+      // The TiM240 can not interpret CMD_START_MEASUREMENT
+      if (this->parser_->getCurrentParamPtr()->getScannerName().compare(SICK_SCANNER_TIM_240_NAME) == 0)
+      {
+        // the TiM240 operates directly in the ros coordinate system
+        // do nothing for a TiM240
+      }
+      else
+      {
+        startProtocolSequence.push_back(CMD_START_MEASUREMENT);
+      }
+      startProtocolSequence.push_back(CMD_RUN);  // leave user level
+      startProtocolSequence.push_back(CMD_START_SCANDATA);
+
       if (this->parser_->getCurrentParamPtr()->getNumberOfLayers() == 4)  // MRS1104 - start IMU-Transfer
       {
         ros::NodeHandle tmp("~");

test/scripts/readme.txt

@@ -0,0 +1,22 @@
+A simple lidar emulator for development and test purposes can be found in folder test/emulator. It implements a simple tcp server, which responds to binary cola messages and sends predefined LMDscandata to a tcp-client. The sick_scan driver can connect to the local test server instead of the lidar device for offline-tests.
+
+To build the test server, activate cmake option `ENABLE_EMULATOR` in CMakeLists.txt and rebuild sick_scan. By default, option `ENABLE_EMULATOR` is switched off.
+
+To run the test server, start sick_scan with one of the emulator launchfiles in test/emulator/launch, f.e.
+```
+roslaunch sick_scan emulator_01_default.launch # emulate TiM 7xx
+roslaunch sick_scan emulator_lms1xx.launch # emulate LMS 1xx
+roslaunch sick_scan emulator_lms5xx.launch # emulate LMS 5xx
+```
+
+Then start the driver with option hostname:=127.0.0.1, f.e.
+```
+roslaunch sick_scan sick_tim_7xx.launch hostname:=127.0.0.1
+```
+
+To visualize the emulation in rviz, run
+```
+rosrun rviz rviz -d ./src/sick_scan/test/emulator/config/rviz_emulator_cfg.rviz
+```
+
+Please note, that the test server does not emulate a lidar device in details. It simply replies predefined cola responses to the driver and sends LMDscandata from the json-files in test/emulator/scandata for diagnosis and offline-tests. Examples to build and run offline-tests can be found in folder test/scripts.

test/scripts/run_simu_tim7xx_tim7xxS.bash

@@ -42,6 +42,7 @@ for sick_scan_launch_file in sick_tim_7xx.launch sick_tim_7xxS.launch ; do
     # rosservice call /sick_tim_7xx/ColaMsg "{request: 'sRN LIDinputstate'}" # response: "sRA LIDinputstate \\x00\\x00\\x00\\x00\\x00\\x00\\x01\\x00\\x00\\x00\\x00\\x00"
     # rostopic echo "/sick_tim_7xxS/lferec" &
     # rostopic echo "/sick_tim_7xxS/lidoutputstate" &
+    rostopic echo /diagnostics &
 
     # Wait for 'q' or 'Q' to exit or until rviz is closed
     while true ; do