[openrtm-users 02401] RTCHokuyoAISTのActivate失敗
kumagai ＠ tjcc.tohoku-gakuin.ac.jp
kumagai ＠ tjcc.tohoku-gakuin.ac.jp
2012年 1月 29日 (日) 15:11:32 JST
東北学院大学の熊谷と申します。
RTCHokuyoAistのActivateに(うまくいくときもありますが)失敗しています。
なにか、コツのようなものがあれば、教えていただきたく、メイルをお送り
します。
・Windows XP SP3(32bit9 および Windows7(64bit)
・OpenRTM-aist 1.1 (C++, Python)
・URG-04LX-UG01
環境で
http://gbiggs.github.com/rtchokuyoaist/index_j.html
からダウンロードした、Windows用のRTCHokuyoAIST（とHokuyoAIST、Flexiport
から取り出したhokuyoaist.dll, flexiport.dllを同一フォルダに）を
添付のような rtc.conf および rtchokuyoaist.conf で使用しました。
（COMポートはteratermで開いてVVコマンドに応答があることまで確認）
＃蛇足：rtchokuyoaist.confを読み込むため、サンプルのrtc.confでは
＃Sensor.RTCHokuyoAist.config_file: rtchokuyoaist.conf となっていますが
＃Sensor.RTCHokuyoAIST.config_file: rtchokuyoaist.conf にしないと
＃(Aist→AIST)読み込まれません
このとき、(RTSEで)ActivateでErrorが出ることが多く、verbose=1にして、
画面の表示をログしました→添付ファイル
操作手順：
・URG-04LXをUSBポートに接続
・RTCHokuyoAistを実行
・RTSEでActivate
気になること１：rtchokuyo_verbose.txt
・通信は成立していて、初期化段階でこけているようです。
・このＮＧモードでは、verbose=1にしない場合は、
Error setting up laser: ＜半角カナ＞ →rtchokuyo_verbose.txtの372行
Error shutting down laser: 同387
だけが表示されます。＞rtchokuyoaist内のopen_laser()あたり？
・このエラーが起きた場合は、ポートが開いたままになるようです。
気になること２：
・別のＮＧモードでは
Sensor::hokuyoaist::Sensor::open() Creating and opening port using options: type=serial,device=COM4,timeout=1
Sensor::hokuyoaist::Sensor::set_power() Turning laser off.
というエラーになることもあります。
※単にポートが開けなかったときにこのエラーになる気配
気になること３：rtchokuyo_verbose2.txt
・最初のＮＧに似たケースで rtchokuyo_verbose2.txt のように、そこそこ
短く、半角カナの交じったエラーがでて、かつ、最後がclsoe connectionになる。
Reset→再アクティベートで表示は変わるものの、やはりNG
※このとき、URGの機種検出もできていない気配。
なお、デバイスマネージャの確認では
・16550互換のFIFOバッファを使用、受信14、送信16
・シリアル系デバイスをつなぐと悪さをすることで有名？なMicrosoft Ball Point
なマウスデバイスは検出されず
です。
なんとなく、RTCのエラーと言うよりは、HokuyoAISTの中のトラブルのよう
ですが、お伺いいたしたく存じます。
よろしくお願いいたします。
※１ヶ月前に動いた動いたと喜んでいたのですが、今日はさっぱり動かずorz
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テキスト形式以外の添付ファイルを保管しました...
ファイル名: rtc.conf
型: application/octet-stream
サイズ: 389 バイト
説明: 無し
URL: <http://www.openrtm.org/pipermail/openrtm-users/attachments/20120129/7e60a3f5/attachment-0003.obj>
-------------- next part --------------
テキスト形式以外の添付ファイルを保管しました...
ファイル名: rtchokuyoaist.conf
型: application/octet-stream
サイズ: 1717 バイト
説明: 無し
URL: <http://www.openrtm.org/pipermail/openrtm-users/attachments/20120129/7e60a3f5/attachment-0004.obj>
-------------- next part --------------
Sensor::hokuyoaist::Sensor::open() Creating and opening port using options: type=serial,device=COM4,timeout=1
Sensor::hokuyoaist::Sensor::open() Connected using serial connection.
Base status:
Debug level: 0 Timeout: 1.000000
Will block: 1 Permissions: rw
Serial-specific status:
Device: COM4
Baud rate: 9600 Data bits: 8
Stop bits: 1 Parity: None
Hardware flow control: 0
Port is open
Sensor::hokuyoaist::Sensor::get_and_set_scip_version() Testing SCIP protocol version.
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is VV, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'VV'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::skip_lines() Skipping 6 lines.
Sensor::hokuyoaist::Sensor::get_and_set_scip_version() Using SCIP version 2.
Sensor::hokuyoaist::Sensor::get_defaults() Getting default values.
Sensor::hokuyoaist::Sensor::get_sensor_info() Getting sensor information using SCIP version 2.
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is VV, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'VV'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 33 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'VEND:Hokuyo Automatic Co.,Ltd.;['
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 30 bytes for checksum from a line length of 32 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 91 ([), given checksum = 91 ([)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 48 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'PROD:SOKUIKI Sensor URG-04LX-UG01(Simple-URG);['
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 45 bytes for checksum from a line length of 47 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 91 ([), given checksum = 91 ([)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 28 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'FIRM:3.3.01(23/Jun./2008);4'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 25 bytes for checksum from a line length of 27 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 52 (4), given checksum = 52 (4)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 16 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'PROT:SCIP 2.0;N'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 13 bytes for checksum from a line length of 15 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 78 (N), given checksum = 78 (N)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 16 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SERI:H1101195;G'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 13 bytes for checksum from a line length of 15 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 71 (G), given checksum = 71 (G)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 1 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is ''
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is PP, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'PP'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 43 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'MODL:URG-04LX(Hokuyo Automatic Co.,Ltd.);N'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 40 bytes for checksum from a line length of 42 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 78 (N), given checksum = 78 (N)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 10 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'DMIN:20;4'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 7 bytes for checksum from a line length of 9 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 52 (4), given checksum = 52 (4)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 12 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'DMAX:5600;_'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 9 bytes for checksum from a line length of 11 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 95 (_), given checksum = 95 (_)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 12 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'ARES:1024;\'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 9 bytes for checksum from a line length of 11 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 92 (\), given checksum = 92 (\)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 10 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'AMIN:44;7'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 7 bytes for checksum from a line length of 9 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 55 (7), given checksum = 55 (7)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'AMAX:725;o'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 111 (o), given checksum = 111 (o)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'AFRT:384;6'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 54 (6), given checksum = 54 (6)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SCAN:600;e'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 101 (e), given checksum = 101 (e)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 1 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is ''
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is II, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'II'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 43 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'MODL:URG-04LX(Hokuyo Automatic Co.,Ltd.);N'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 40 bytes for checksum from a line length of 42 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 78 (N), given checksum = 78 (N)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'LASR:OFF;7'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 55 (7), given checksum = 55 (7)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 50 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SCSP:Initial(600[rpm])<-Default setting by user;A'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 47 bytes for checksum from a line length of 49 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 65 (A), given checksum = 65 (A)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 12 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'MESM:IDLE;:'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 9 bytes for checksum from a line length of 11 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 58 (:), given checksum = 58 (:)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 43 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SBPS:19200[bps]<-Default setting by user;A'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 40 bytes for checksum from a line length of 42 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 65 (A), given checksum = 65 (A)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 14 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'TIME:003CC8;j'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 11 bytes for checksum from a line length of 13 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 106 (j), given checksum = 106 (j)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 26 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'STAT:Sensor works well.;8'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 23 bytes for checksum from a line length of 25 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 56 (8), given checksum = 56 (8)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 1 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is ''
Retrieved sensor info:
Vendor: Hokuyo Automatic Co.,Ltd.
Product: SOKUIKI Sensor URG-04LX-UG01(Simple-URG)
Identified as: URG-04LX
Firmware: 3.3.01(23/Jun./2008)
Protocol: SCIP 2.0
Serial: H1101195
Model: URG-04LX(Hokuyo Automatic Co.,Ltd.)
Minimum range: 20mm Maximum range: 5600mm
Steps in 360 degrees: 1024 Scanable steps: 682
First step: 44 Front step: 384 Last step: 725 Max step: 768
Resolution: 0.00613592 radians/step
Minimum angle: -2.08621 radians Maximum angle: 2.09235 radians
Standard motor speed: 600rpm
Rotation direction: Counter-clockwise
Power status: Off Measurement state: IDLE
Motor speed: 600rpm (level 0) Baud rate: 19200bps
Time stamp: 15560ms
Time between scan points: 0.0976563ms
Sensor diagnostic: Sensor works well.
Sensor::hokuyoaist::Sensor::get_defaults() Got default values: -2.08621 2.09235 0.00613592 44 725 384 5600
Sensor::hokuyoaist::Sensor::get_sensor_info() Getting sensor information using SCIP version 2.
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is VV, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'VV'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 33 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'VEND:Hokuyo Automatic Co.,Ltd.;['
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 30 bytes for checksum from a line length of 32 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 91 ([), given checksum = 91 ([)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 48 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'PROD:SOKUIKI Sensor URG-04LX-UG01(Simple-URG);['
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 45 bytes for checksum from a line length of 47 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 91 ([), given checksum = 91 ([)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 28 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'FIRM:3.3.01(23/Jun./2008);4'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 25 bytes for checksum from a line length of 27 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 52 (4), given checksum = 52 (4)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 16 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'PROT:SCIP 2.0;N'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 13 bytes for checksum from a line length of 15 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 78 (N), given checksum = 78 (N)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 16 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SERI:H1101195;G'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 13 bytes for checksum from a line length of 15 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 71 (G), given checksum = 71 (G)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 1 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is ''
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is PP, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'PP'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 43 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'MODL:URG-04LX(Hokuyo Automatic Co.,Ltd.);N'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 40 bytes for checksum from a line length of 42 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 78 (N), given checksum = 78 (N)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 10 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'DMIN:20;4'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 7 bytes for checksum from a line length of 9 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 52 (4), given checksum = 52 (4)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 12 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'DMAX:5600;_'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 9 bytes for checksum from a line length of 11 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 95 (_), given checksum = 95 (_)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 12 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'ARES:1024;\'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 9 bytes for checksum from a line length of 11 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 92 (\), given checksum = 92 (\)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 10 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'AMIN:44;7'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 7 bytes for checksum from a line length of 9 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 55 (7), given checksum = 55 (7)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'AMAX:725;o'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 111 (o), given checksum = 111 (o)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'AFRT:384;6'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 54 (6), given checksum = 54 (6)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SCAN:600;e'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 101 (e), given checksum = 101 (e)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 1 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is ''
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is II, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'II'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 43 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'MODL:URG-04LX(Hokuyo Automatic Co.,Ltd.);N'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 40 bytes for checksum from a line length of 42 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 78 (N), given checksum = 78 (N)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 11 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'LASR:OFF;7'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 8 bytes for checksum from a line length of 10 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 55 (7), given checksum = 55 (7)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 50 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SCSP:Initial(600[rpm])<-Default setting by user;A'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 47 bytes for checksum from a line length of 49 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 65 (A), given checksum = 65 (A)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 12 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'MESM:IDLE;:'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 9 bytes for checksum from a line length of 11 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 58 (:), given checksum = 58 (:)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 43 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'SBPS:19200[bps]<-Default setting by user;A'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 40 bytes for checksum from a line length of 42 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 65 (A), given checksum = 65 (A)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 14 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'TIME:004944;N'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 11 bytes for checksum from a line length of 13 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 78 (N), given checksum = 78 (N)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 26 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'STAT:Sensor works well.;8'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 23 bytes for checksum from a line length of 25 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 56 (8), given checksum = 56 (8)
Sensor::hokuyoaist::Sensor::read_line() Reading up to 67 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 1 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is ''
Retrieved sensor info:
Vendor: Hokuyo Automatic Co.,Ltd.
Product: SOKUIKI Sensor URG-04LX-UG01(Simple-URG)
Identified as: URG-04LX
Firmware: 3.3.01(23/Jun./2008)
Protocol: SCIP 2.0
Serial: H1101195
Model: URG-04LX(Hokuyo Automatic Co.,Ltd.)
Minimum range: 20mm Maximum range: 5600mm
Steps in 360 degrees: 1024 Scanable steps: 682
First step: 44 Front step: 384 Last step: 725 Max step: 768
Resolution: 0.00613592 radians/step
Minimum angle: -2.08621 radians Maximum angle: 2.09235 radians
Standard motor speed: 600rpm
Rotation direction: Counter-clockwise
Power status: Off Measurement state: IDLE
Motor speed: 600rpm (level 0) Baud rate: 19200bps
Time stamp: 18756ms
Time between scan points: 0.0976563ms
Sensor diagnostic: Sensor works well.
Sensor::hokuyoaist::Sensor::set_high_sensitivity() Switching to normal sensitivity.
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is HS, parameters length is 1
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'HS0'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '02R'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 82 (R), given checksum = 82 (R)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 02
Sensor::hokuyoaist::Sensor::skip_lines() Skipping 1 lines.
Entering timing mode; start system time is 13000125000ns.
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is TM, parameters length is 1
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'TM0'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '00P'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 80 (P), given checksum = 80 (P)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 00
Sensor::hokuyoaist::Sensor::skip_lines() Skipping 1 lines.
Gathering 10 offset values.
Error setting up laser: ????????????????????????????????????????????????????????????????????????????????????????????????
??????????????????????
Sensor::hokuyoaist::Sensor::set_power() Turning laser off.
Sensor::hokuyoaist::Sensor::send_command() Writing in SCIP2 mode. Command is QT, parameters length is 0
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 3 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is 'QT'
Sensor::hokuyoaist::Sensor::read_line() Reading exactly 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Read 4 bytes.
Sensor::hokuyoaist::Sensor::read_line() Line is '0Ee'
Sensor::hokuyoaist::Sensor::read_line_with_check() Considering 2 bytes for checksum from a line length of 3 bytes.
Sensor::hokuyoaist::Sensor::confirm_checksum() Calculated checksum = 101 (e), given checksum = 101 (e)
Sensor::hokuyoaist::Sensor::send_command() Command response status: 0E
Sensor::hokuyoaist::Sensor::skip_lines() Skipping 1 lines.
Error shutting down laser: ????????????????????????????????????????????????????????????????????????????????????????祀!Q
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