[Closed] Rosbot 2.0 rplidar failed

Hi,

My Rosbot 2.0’s lidar suddenly failed to work since few days before!

After I launched the lidar by:

roslaunch rplidar_ros rplidar_a3.launch

At first sevral trials, it casually started with error [ERROR] [1655196152.084046637]: Can not start scan: 80008000!, here is the full logs:

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.28.135:33601/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/scan_mode: Sensitivity
 * /rplidarNode/serial_baudrate: 256000
 * /rplidarNode/serial_port: /dev/ttyUSB0

NODES
  /
    rplidarNode (rplidar_ros/rplidarNode)

ROS_MASTER_URI=http://192.168.28.83:11311

process[rplidarNode-1]: started with pid [13212]
[ INFO] [1655196149.035925460]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
RPLIDAR S/N: AFED9A87C5E392D2A5E492F83F38316C
[ INFO] [1655196149.552952133]: Firmware Ver: 1.27
[ INFO] [1655196149.553066176]: Hardware Rev: 6
[ INFO] [1655196149.554194363]: RPLidar health status : 0
[ERROR] [1655196152.084046637]: Can not start scan: 80008000!

I tried to echo topic /scan when it started, but still no reponse!

Now, the lidar always fails to start with error:
[ERROR] [1655196344.166891901]: Error, operation time out. RESULT_OPERATION_TIMEOUT!

Can anyone can help me? Thanks in advance!

1 Like

Hi, do you have the latest version of rplidar installed?

Hi wdxpz,

Are you sure that your RPlidar model is a3 and that the serial_baudrate in your launch file is 256000? If you have model a2, then run rplidar.launch launch file, where serial_baudrate param is equal 115200:

roslaunch rplidar_ros rplidar.launch

Please, let me know about it. If you have any questions/troubles, do not hesitate to ask.

Best regards,
Paweł

Hi, Paweł,

Thanks for your reminder!

I’ve been using setting for a3 lidar with serial_baudrate=256000 for a while before the suddenly fail.

I will try to see if rplidar.launch works. At the same time, should I also try to update the rplidar_ros pakcage as @ Laschoking mentioned above (I am now wokring in ROS Melodic)?

BRs,
Si

Hi,

I found I made a mistake about my robot model, it should be Rosbot2.0 Pro, so the lidar should be a3, and serial_baudrate=256000

Thanks for https://community-mirror.husarion.com/t/rosbot-2-0-rplidar-failed/1469/2?u=wdxpz! I updated the rplidar_ros package, and the lidar now can be launched correctly, here is the logs after roslaunch rplidar_ros rplidar_a3.launch:

... logging to /home/husarion/.ros/log/78486784-f362-11ec-9ca6-000c297f8939/roslaunch-husarion-5208.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.28.135:42665/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/scan_mode: Sensitivity
 * /rplidarNode/serial_baudrate: 256000
 * /rplidarNode/serial_port: /dev/ttyUSB0

NODES
  /
    rplidarNode (rplidar_ros/rplidarNode)

ROS_MASTER_URI=http://192.168.28.197:11311

process[rplidarNode-1]: started with pid [5389]
[ INFO] [1656043936.090754171]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0
[ INFO] [1656043936.316347205]: RPLIDAR S/N: AFED9A87C5E392D2A5E492F83F38316C
[ INFO] [1656043936.316490961]: Firmware Ver: 1.27
[ INFO] [1656043936.316543196]: Hardware Rev: 6
[ INFO] [1656043936.367915075]: RPLidar health status : OK.
[ INFO] [1656043936.681688088]: current scan mode: Sensitivity, sample rate: 16 Khz, max_distance: 25.0 m, scan frequency:10.0 Hz,

However, the big problem still exists, I can not get any data from topic /scan:

Screen Shot 2022-06-24 at 12.15.06

Could you give me more hints? Thanks a lot!

BRs,
Si

Hi,
My initial guess is that sensitive mode may be causing some problems. Have you tried running in standard mode? Please, try to use this parameter in your launch file:

<param name="scan_mode"           type="string"  value="Standard"/>

Best regards,
Paweł

Hi, Paweł,

I tried the Standard mode as your suggested, but still no reponse to rostopic echo /scan.

After that, I tried to open the top cover to see if any cable connection broke. Then I got failure every time I launched rplidar_a3.launch even I closed the top cover back. Here is the log:

... logging to /home/husarion/.ros/log/1ee9796c-f5ba-11ec-9ca6-000c297f8939/roslaunch-husarion-4910.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.28.135:38911/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/scan_mode: Standard
 * /rplidarNode/serial_baudrate: 256000
 * /rplidarNode/serial_port: /dev/ttyUSB0

NODES
  /
    rplidarNode (rplidar_ros/rplidarNode)

ROS_MASTER_URI=http://192.168.28.239:11311

process[rplidarNode-1]: started with pid [5131]
[ INFO] [1656295172.582627714]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0
[ERROR] [1656295176.646174212]: Error, operation time out. RESULT_OPERATION_TIMEOUT!
[rplidarNode-1] process has died [pid 5131, exit code 255, cmd /home/husarion/husarion_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/husarion/.ros/log/1ee9796c-f5ba-11ec-9ca6-000c297f8939/rplidarNode-1.log].
log file: /home/husarion/.ros/log/1ee9796c-f5ba-11ec-9ca6-000c297f8939/rplidarNode-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I doubt if there is any problem in the connection from the lidar to the mainboard? Is there any way to make a check?

BRs,
Si

Hi,

Please note that unauthorized opening of the robot case may result in loss of warranty.

To make sure it is not a software problem, please upload the latest Ubuntu image. If this does not help, please make sure the USB cable is working. If this does not help, it may be a hardware failure and you will need to replace your RPlidar.

Please contact me in private message for details.

Best regards,
Paweł