ERROR: Could not connect to laser range finder! FAILED!

[sobirn]

Hello devs,

we are students working on a project and are not able to run our r2000 scanner.

Whats working:
We have the scanner working in DHCP mode and connected to a home router. The assigned IP address is 192.168.178.36. (If we use a static IP address we can connect, too.)
Therefore we can open the default page via our web browser at http://192.168.178.36/cmd/get_protocol_info
This is what we get:

{
"protocol_name":"pfsdp",
"version_major":0,
"version_minor":92,
"commands":[
"get_protocol_info",
"list_parameters",
"get_parameter",
"set_parameter",
"reset_parameter",
"request_handle_udp",
"request_handle_tcp",
"feed_watchdog",
"set_scanoutput_config",
"get_scanoutput_config",
"start_scanoutput",
"stop_scanoutput",
"release_handle",
"request_master_lock",
"acknowledge_master_lock",
"release_master_lock"
],
"error_code":0,
"error_text":"success"
}

(It seems that the scanners version is quiet old, 0.92. Maybe this causes the problem?)

This is the output of http://192.168.178.36/cmd/get_parameter

{
"vendor":"Pepperl+Fuchs GmbH",
"product":"OMR50M-R2000",
"part":"247565",
"serial":"000d810078ff",
"revision_fw":"V0.92",
"revision_hw":"V0.95",
"max_connections":1,
"feature_flags":[
"ethernet",
"output_q1",
"output_q2"
],
"radial_range":20.000000,
"radial_resolution":0.001000,
"angular_fov":360.000000,
"angular_resolution":0.100000,
"ip_config":1,
"ip_address":"192.186.0.5",
"subnet_mask":"255.255.255.0",
"gateway":"192.186.0.1",
"scan_frequency":35,
"scan_direction_ccw":1,
"samples_per_scan":3600,
"scan_frequency_measured":35.100000,
"status_flags":0,
"load_current":31,
"load_average":0,
"up_time":0,
"power_cycles":0,
"operation_time":0,
"operation_time_scaled":0,
"temperature_current":0,
"temperature_min":0,
"temperature_max":0,
"contamination":0,
"standby_mode":0,
"user_tag":"R2000",
"device_family":1,
"mac_address":"000d810078ff",
"hmi_display_mode":0,
"hmi_language":0,
"hmi_button_lock":0,
"max_scan_sectors":0,
"max_scan_sectors":0,
"max_data_sectors":0,
"error_code":0,
"error_text":"success"
}

Thoughts:

• It says that we are using a product "OMR50M-R2000". But plate attached at the bottom to the scanner says that we are using a "OMD10M-R2000-B23-V1V1D".
• The IP in the output is wrong. We definitely used the DHCP mode at the moment we took copied the output. Since the 192.186.0.5 is the IP we last used when connecting with a static IP this issue can probably be ignored.
• FYI: Our prof told us that it might be a prototype scanner. Maybe this causes some problems?

Whats not working:
We are using a (almost freshly installed) ubuntu 18.04.
First, we launch roscore and source our workspace.
After that we launch roslaunch pepperl_fuchs_r2000 r2000.launch (or the gui_example.launch file)
(The r2000.launch file/gui file is configured to use the correct IP address.)

The terminal output is:

~$ roslaunch pepperl_fuchs_r2000 r2000.launch
... logging to /home/sophia/.ros/log/60dcb70a-68f8-11e9-9251-185e0f57edfb/roslaunch-sophia-ThinkPad-6229.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sophia-ThinkPad:40635/

SUMMARY
========

PARAMETERS
 * /r2000_node/frame_id: /scan
 * /r2000_node/samples_per_scan: 3600
 * /r2000_node/scan_frequency: 35
 * /r2000_node/scanner_ip: 192.168.178.36
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /
    r2000_node (pepperl_fuchs_r2000/r2000_node)
    rviz_sophia_ThinkPad_6229_2258002658667971820 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[r2000_node-1]: started with pid [6245]
process[rviz_sophia_ThinkPad_6229_2258002658667971820-2]: started with pid [6246]
Connecting to scanner at 192.168.178.36 ... ERROR: Could not connect to laser range finder!
FAILED!
Connection to scanner at 192.168.178.36 failed!
[ INFO] [1556376438.464917263]: rviz version 1.13.3
[ INFO] [1556376438.465056046]: compiled against Qt version 5.9.5
[ INFO] [1556376438.465080470]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1556376438.761454898]: Stereo is NOT SUPPORTED
[ INFO] [1556376438.762285490]: OpenGl version: 3 (GLSL 1.3).

Expected behavior:
Since we can connect to the r2000 via web browser we would expect to be able to connect via terminal, too.

Any ideas why we cant connect via terminal? What do we have to change to be able to connect? Our first guess would be some protocol incompatibility issues. But that is just a wild guess.

Any help is greatly appreciated. :)

BR
Sophia

[yst1]

hello, we meet the same problem when i set the static IP mode, how do you solve it? Any help is greatly appreciated.

[milano-technical-intern]

Just use this driver instead:

https://github.com/PepperlFuchs/ROS_driver