[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!

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 Rosbot 2.0 rplidar failed - #2 by Laschoking! 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