Connecting to Lidar TIM 781 using ROS 2 - sick_scan_xd freezes the lidar

Question

I have Sick Tim 781 and I use ROS2 with library sick_scan_xd. To connect to sick I use following commands:

ros2 run sick_scan sick_generic_caller

./src/sick_scan_xd/launch/sick_tim_7xx.launch

I am able to establish the connection and receive information about Safety fields and I am also able to receive responses to some other messages. But the lidar freezes as the sick_generic_caller sends 'sWN FREchoFilter' message (which is setting echo filter). It looks like, that the command is not available for TIM 781 (https://cdn.sick.com/media/docs/7/27/927/technical_information_telegram_listing_ranging_sensors_lms1xx_lms5xx_tim2xx_tim5xx_tim7xx_lms1000_mrs1000_mrs6000_nav310_ld_oem15xx_ld_lrs36xx_lms4000_en_im0045927.pdf?fbclid=IwAR1RC5zQU5Cq3apFKStLFqrCoQgZ66egCuIbDwP1EdGZhBcTpYVMWtfGVL8)

Could sending the message be the issue? I was not able to turn off sending the message.

Log of the communication follows:

ubuntu20@ubuntu20-ThinkPad-W540:~/dev_ws$ ros2 run sick_scan sick_generic_caller ./src/sick_scan_xd/launch/sick_tim_7xx.launch hostname:=192.168.88.115 port:=2112 > a.out
[INFO] [1644325414.232657487] [sick_scan]: sick_generic_caller V. 2.4.2

[INFO] [1644325414.232735297] [sick_scan]: Program argument 1: /home/ubuntu20/dev_ws/install/sick_scan/lib/sick_scan/sick_generic_caller

[INFO] [1644325414.232752566] [sick_scan]: Program argument 2: ./src/sick_scan_xd/launch/sick_tim_7xx.launch

[INFO] [1644325414.232764390] [sick_scan]: Program argument 3: hostname:=192.168.88.115

[INFO] [1644325414.232775508] [sick_scan]: Program argument 4: port:=2112

[INFO] [1644325414.232789653] [sick_scan]: Try loading launchfile : ./src/sick_scan_xd/launch/sick_tim_7xx.launch
[INFO] [1644325414.232962630] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): default_args["nodename"]="sick_tim_7xx"
[INFO] [1644325414.232981682] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): default_args["hostname"]="192.168.0.1"
[INFO] [1644325414.232993927] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): default_args["port"]="2112"
[INFO] [1644325414.233005095] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): default_args["cloud_topic"]="cloud"
[INFO] [1644325414.233016255] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): default_args["frame_id"]="cloud"
[INFO] [1644325414.233027851] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): default_args["sw_pll_only_publish"]="true"
[INFO] [1644325414.233067543] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="scanner_type", type="string", value="sick_tim_7xx"
[INFO] [1644325414.233082665] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="nodename", type="string", value="$(arg nodename)" overwritten by default value "sick_tim_7xx"
[INFO] [1644325414.233094537] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="nodename", type="string", value="sick_tim_7xx"
[INFO] [1644325414.233105617] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="min_ang", type="double", value="-2.35619449"
[INFO] [1644325414.233116266] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="max_ang", type="double", value="2.35619449"
[INFO] [1644325414.233127221] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="use_binary_protocol", type="bool", value="True"
[INFO] [1644325414.233137858] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="range_max", type="double", value="100.0"
[INFO] [1644325414.233148404] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="intensity", type="bool", value="True"
[INFO] [1644325414.233159560] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="hostname", type="string", value="$(arg hostname)" overwritten by default value "192.168.0.1"
[INFO] [1644325414.233170296] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="hostname", type="string", value="192.168.0.1"
[INFO] [1644325414.233183747] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="cloud_topic", type="string", value="$(arg cloud_topic)" overwritten by default value "cloud"
[INFO] [1644325414.233195479] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="cloud_topic", type="string", value="cloud"
[INFO] [1644325414.233206879] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="frame_id", type="str", value="$(arg frame_id)" overwritten by default value "cloud"
[INFO] [1644325414.233217887] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="frame_id", type="str", value="cloud"
[INFO] [1644325414.233228852] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="port", type="string", value="$(arg port)" overwritten by default value "2112"
[INFO] [1644325414.233262210] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="port", type="string", value="2112"
[INFO] [1644325414.233276181] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="timelimit", type="int", value="5"
[INFO] [1644325414.233287692] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="sw_pll_only_publish", type="bool", value="$(arg sw_pll_only_publish)" overwritten by default value "true"
[INFO] [1644325414.233301297] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="sw_pll_only_publish", type="bool", value="true"
[INFO] [1644325414.233312131] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="start_services", type="bool", value="True"
[INFO] [1644325414.233323115] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="activate_lferec", type="bool", value="True"
[INFO] [1644325414.233334412] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="activate_lidoutputstate", type="bool", value="True"
[INFO] [1644325414.233347810] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="activate_lidinputstate", type="bool", value="True"
[INFO] [1644325414.233359505] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="min_intensity", type="double", value="0.0"
[INFO] [1644325414.233370432] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="message_monitoring_enabled", type="bool", value="True"
[INFO] [1644325414.233381178] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="read_timeout_millisec_default", type="int", value="5000"
[INFO] [1644325414.233391930] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="read_timeout_millisec_startup", type="int", value="120000"
[INFO] [1644325414.233406084] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="read_timeout_millisec_kill_node", type="int", value="150000"
[INFO] [1644325414.233417126] [sick_scan]: LaunchParser::parseFile(./src/sick_scan_xd/launch/sick_tim_7xx.launch): name="client_authorization_pw", type="string", value="F4724744"
[INFO] [1644325414.234385622] [sick_scan]: Found emul_sensor overwriting default settings. Emulation:False
[INFO] [1644325414.234410017] [sick_scan]: Found sopas_protocol_type param overwriting default protocol:
[INFO] [1644325414.234421876] [sick_scan]: Binary protocol activated
[INFO] [1644325414.234476529] [sick_scan]: Start initialising scanner [Ip: 192.168.88.115] [Port:2112]
[INFO] [1644325414.235699494] [sick_scan]: Publishing on topic "sick_tim_7xx/lferec"
[INFO] [1644325414.236311748] [sick_scan]: Publishing on topic "sick_tim_7xx/lidoutputstate"
[INFO] [1644325414.236508877] [sick_scan]: Publishing on topic "sick_tim_7xx/marker"
[INFO] [1644325414.236914604] [sick_scan]: Publishing laserscan-pointcloud2 to cloud
[INFO] [1644325414.236944687] [sick_scan]: Publishing on topic "cloud"
[INFO] [1644325414.237127709] [sick_scan]: Publishing on topic "sick_tim_7xx/imu"
[INFO] [1644325414.237362167] [sick_scan]: Publishing on topic "sick_tim_7xx/encoder"
[INFO] [1644325414.237535391] [sick_scan]: Publishing on topic "sick_tim_7xx/scan"
[INFO] [1644325414.237755364] [sick_scan]: sick_scan_xd: Tcp::open: connecting to 192.168.88.115:2112 ...
[INFO] [1644325414.239041899] [sick_scan]: sick_scan_xd Tcp::open: connected to 192.168.88.115:2112
[INFO] [1644325414.239107558] [sick_scan]: SickThread TcpRecvThread started.
[INFO] [1644325414.239229168] [sick_scan]: Parameter setting for <active_echo: 0d>

[INFO] [1644325414.439556760] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0023>sMN SetAccessMode 0x03 0xf4 0x72 0x47 0x44 CRC:<0xb3>
[INFO] [1644325414.449020943] [sick_scan]: Receiving: <STX>sAN SetAccessMode \x01<ETX>
[INFO] [1644325414.649260571] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0015>sWN EIHstCola 0x01 CRC:<0x09>
[INFO] [1644325414.653055777] [sick_scan]: Receiving: <STX>sWA EIHstCola <ETX>
[INFO] [1644325414.853381930] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0019>sRN FirmwareVersion CRC:<0x24>
[INFO] [1644325414.857102270] [sick_scan]: Receiving: <STX>sRA FirmwareVersion \x00\x05\x56\x33\x2e\x31\x36<ETX>
[INFO] [1644325415.057383167] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0017>sRN SCdevicestate CRC:<0x30>
[INFO] [1644325415.060692544] [sick_scan]: Receiving: <STX>sRA SCdevicestate \x00<ETX>
[INFO] [1644325415.260960535] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0010>sRN ODoprh CRC:<0x41>
[INFO] [1644325415.264656239] [sick_scan]: Receiving: <STX>sRA ODoprh \x00\x00\x0f\xaa<ETX>
[INFO] [1644325415.465312240] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0010>sRN ODpwrc CRC:<0x52>
[INFO] [1644325415.469712699] [sick_scan]: Receiving: <STX>sRA ODpwrc \x00\x00\x01\xc4<ETX>
[INFO] [1644325415.670458033] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0016>sRN LocationName CRC:<0x55>
[INFO] [1644325415.674620154] [sick_scan]: Receiving: <STX>sRA LocationName \x00\x0b\x4c\x69\x64\x61\x72\x50\x72\x65\x...
[INFO] [1644325415.675149627] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0018>sRN LMPoutputRange CRC:<0x5e>
[INFO] [1644325415.677495841] [sick_scan]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x0d\x05\xff\xf9\x22\x30...
[INFO] [1644325415.677608221] [sick_scan]: Angle resolution of scanner is 0.3333 [deg]  (in 1/10000th deg: 3333)
[INFO] [1644325415.677663386] [sick_scan]: [From:To] -45 [deg] to 225f [deg] (in 1/10000th deg: from -450000 to 2250000)
[INFO] [1644325415.677708891] [sick_scan]: MIN_ANG: -2.35619 [rad] -135 [deg]
[INFO] [1644325415.677763207] [sick_scan]: MAX_ANG: 2.35619 [rad] 135 [deg]
[INFO] [1644325415.677833633] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0033>sWN LMPoutputRange 0x00 0x01 0x00 0x00 0x0d 0x05 0xff 0xf9 0x22 0x30 0x00 0x22 0x55 0x10 CRC:<0x01>
[INFO] [1644325415.680644554] [sick_scan]: Receiving: <STX>sWA LMPoutputRange <ETX>
[INFO] [1644325415.680754455] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0018>sRN LMPoutputRange CRC:<0x5e>
[INFO] [1644325415.683752500] [sick_scan]: Receiving: <STX>sRA LMPoutputRange \x00\x01\x00\x00\x0d\x05\xff\xf9\x22\x30...
[INFO] [1644325415.683856701] [sick_scan]: Angle resolution of scanner is 0.3333 [deg]  (in 1/10000th deg: 3333)
[INFO] [1644325415.684108530] [sick_scan]: MIN_ANG (after command verification): -2.35619 [rad] -135 [deg]
[INFO] [1644325415.684159122] [sick_scan]: MAX_ANG (after command verification): 2.35619 [rad] 135 [deg]
[INFO] [1644325415.684210349] [sick_scan]: Reading safety fields
[INFO] [1644325415.684259397] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field000 CRC:<0x1d>
[INFO] [1644325415.690478465] [sick_scan]: Receiving: <STX>sRA field000 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.691526948] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field001 CRC:<0x1c>
[INFO] [1644325415.696947724] [sick_scan]: Receiving: <STX>sRA field001 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.698108708] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field002 CRC:<0x1f>
[INFO] [1644325415.702893614] [sick_scan]: Receiving: <STX>sRA field002 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.703970114] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field003 CRC:<0x1e>
[INFO] [1644325415.706591886] [sick_scan]: Receiving: <STX>sRA field003 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.706712098] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field004 CRC:<0x19>
[INFO] [1644325415.709738940] [sick_scan]: Receiving: <STX>sRA field004 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.709844855] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field005 CRC:<0x18>
[INFO] [1644325415.713149780] [sick_scan]: Receiving: <STX>sRA field005 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.713238322] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field006 CRC:<0x1b>
[INFO] [1644325415.716613544] [sick_scan]: Receiving: <STX>sRA field006 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.716731517] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field007 CRC:<0x1a>
[INFO] [1644325415.720116274] [sick_scan]: Receiving: <STX>sRA field007 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.720286102] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field008 CRC:<0x15>
[INFO] [1644325415.723251237] [sick_scan]: Receiving: <STX>sRA field008 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.723424351] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field009 CRC:<0x14>
[INFO] [1644325415.728404012] [sick_scan]: Receiving: <STX>sRA field009 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.728617785] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field010 CRC:<0x1c>
[INFO] [1644325415.732545665] [sick_scan]: Receiving: <STX>sRA field010 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.732694580] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field011 CRC:<0x1d>
[INFO] [1644325415.735674492] [sick_scan]: Receiving: <STX>sRA field011 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.735818260] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field012 CRC:<0x1e>
[INFO] [1644325415.739046760] [sick_scan]: Receiving: <STX>sRA field012 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.739191547] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field013 CRC:<0x1f>
[INFO] [1644325415.743212234] [sick_scan]: Receiving: <STX>sRA field013 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.743344221] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field014 CRC:<0x18>
[INFO] [1644325415.746394382] [sick_scan]: Receiving: <STX>sRA field014 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.746499169] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field015 CRC:<0x19>
[INFO] [1644325415.749649838] [sick_scan]: Receiving: <STX>sRA field015 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.749799552] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field016 CRC:<0x1a>
[INFO] [1644325415.752850892] [sick_scan]: Receiving: <STX>sRA field016 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.753002741] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field017 CRC:<0x1b>
[INFO] [1644325415.757061180] [sick_scan]: Receiving: <STX>sRA field017 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.757281357] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field018 CRC:<0x14>
[INFO] [1644325415.761136209] [sick_scan]: Receiving: <STX>sRA field018 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.761385071] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field019 CRC:<0x15>
[INFO] [1644325415.764430836] [sick_scan]: Receiving: <STX>sRA field019 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.764568183] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field020 CRC:<0x1f>
[INFO] [1644325415.767549883] [sick_scan]: Receiving: <STX>sRA field020 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.767675232] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field021 CRC:<0x1e>
[INFO] [1644325415.770690327] [sick_scan]: Receiving: <STX>sRA field021 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.770831658] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field022 CRC:<0x1d>
[INFO] [1644325415.774346880] [sick_scan]: Receiving: <STX>sRA field022 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.774488849] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field023 CRC:<0x1c>
[INFO] [1644325415.777918841] [sick_scan]: Receiving: <STX>sRA field023 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.778094935] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field024 CRC:<0x1b>
[INFO] [1644325415.782121635] [sick_scan]: Receiving: <STX>sRA field024 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.782357676] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field025 CRC:<0x1a>
[INFO] [1644325415.785267310] [sick_scan]: Receiving: <STX>sRA field025 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.785488370] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field026 CRC:<0x19>
[INFO] [1644325415.789362221] [sick_scan]: Receiving: <STX>sRA field026 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.789566205] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field027 CRC:<0x18>
[INFO] [1644325415.792702611] [sick_scan]: Receiving: <STX>sRA field027 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.792829753] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field028 CRC:<0x17>
[INFO] [1644325415.796070181] [sick_scan]: Receiving: <STX>sRA field028 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.796199363] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field029 CRC:<0x16>
[INFO] [1644325415.799427369] [sick_scan]: Receiving: <STX>sRA field029 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.799605874] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field030 CRC:<0x1e>
[INFO] [1644325415.802715191] [sick_scan]: Receiving: <STX>sRA field030 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.802806386] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field031 CRC:<0x1f>
[INFO] [1644325415.806073608] [sick_scan]: Receiving: <STX>sRA field031 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.806168710] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field032 CRC:<0x1c>
[INFO] [1644325415.810357901] [sick_scan]: Receiving: <STX>sRA field032 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.810483123] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field033 CRC:<0x1d>
[INFO] [1644325415.815673043] [sick_scan]: Receiving: <STX>sRA field033 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.815827925] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field034 CRC:<0x1a>
[INFO] [1644325415.818720762] [sick_scan]: Receiving: <STX>sRA field034 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.818799451] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field035 CRC:<0x1b>
[INFO] [1644325415.822934876] [sick_scan]: Receiving: <STX>sRA field035 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.823023865] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field036 CRC:<0x18>
[INFO] [1644325415.828240596] [sick_scan]: Receiving: <STX>sRA field036 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.828381300] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field037 CRC:<0x19>
[INFO] [1644325415.833751405] [sick_scan]: Receiving: <STX>sRA field037 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.833860811] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field038 CRC:<0x16>
[INFO] [1644325415.839023757] [sick_scan]: Receiving: <STX>sRA field038 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.839137707] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field039 CRC:<0x17>
[INFO] [1644325415.846460376] [sick_scan]: Receiving: <STX>sRA field039 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.846581090] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field040 CRC:<0x19>
[INFO] [1644325415.850623827] [sick_scan]: Receiving: <STX>sRA field040 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.850735502] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field041 CRC:<0x18>
[INFO] [1644325415.855088251] [sick_scan]: Receiving: <STX>sRA field041 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.855203286] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field042 CRC:<0x1b>
[INFO] [1644325415.857935697] [sick_scan]: Receiving: <STX>sRA field042 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.858006699] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field043 CRC:<0x1a>
[INFO] [1644325415.861089776] [sick_scan]: Receiving: <STX>sRA field043 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.861171182] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field044 CRC:<0x1d>
[INFO] [1644325415.864225130] [sick_scan]: Receiving: <STX>sRA field044 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.864302929] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field045 CRC:<0x1c>
[INFO] [1644325415.867363802] [sick_scan]: Receiving: <STX>sRA field045 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.867437283] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field046 CRC:<0x1f>
[INFO] [1644325415.870985465] [sick_scan]: Receiving: <STX>sRA field046 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.871062795] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0012>sRN field047 CRC:<0x1e>
[INFO] [1644325415.873964204] [sick_scan]: Receiving: <STX>sRA field047 ?�\x00\x00\x00\x00\x00\x00\x00\x00\x0d\x05\xff...
[INFO] [1644325415.874072955] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0017>sRN LIDinputstate CRC:<0x0f>
[INFO] [1644325415.876070069] [sick_scan]: Receiving: <STX>sRA LIDinputstate \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\...
[INFO] [1644325415.876157913] [sick_scan]: Safety fieldset response to "sRN LIDinputstate": \x02\x02\x02\x02\x00\x00\x00\x1esRA LIDinputstate \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 , active fieldset = 0
[INFO] [1644325415.876782617] [sick_scan]: Safety fieldset 0, pointcounter = [  812, 812, 812, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5 ]
[INFO] [1644325415.877420136] [sick_scan]: Safety field 0, type 2 : (0,0), (-0.0169706,-0.0169706), ...
[INFO] [1644325415.880414648] [sick_scan]: Safety field 47, type 2 : (0,0), (-7.85398e-05,-1), (1.75069,-0.997653), (1.75116,0.996828), (0.000392588,1)
[INFO] [1644325415.880448848] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0032>sWN LMDscandatacfg 0x01 0x00 0x01 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x01 0x00 0x01 CRC:<0x43>
[INFO] [1644325415.883332973] [sick_scan]: Receiving: <STX>sWA LMDscandatacfg <ETX>
[INFO] [1644325415.883407313] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0018>sRN LMDscandatacfg CRC:<0x67>
[INFO] [1644325415.886492019] [sick_scan]: Receiving: <STX>sRA LMDscandatacfg \x01\x00\x01\x01\x00\x00\x00\x00\x00\x00...
[INFO] [1644325415.886731250] [sick_scan]: Sending  : <STX><STX><STX><STX><Len=0018>sWN FREchoFilter 0x00 CRC:<0x7f>
[WARN] [1644325535.889810347] [sick_scan]: Timeout during waiting for new datagram
[WARN] [1644325535.889966012] [sick_scan]: sendSOPASCommand: no full reply available for read after 120000 ms
[INFO] [1644325535.890097008] [sick_scan]: Receiving: <STX><ETX>
[INFO] [1644325535.890145700] [sick_scan]: SOPAS Communication -Error unexpected Sopas answer for request <STX><STX><STX><STX><Len=0018>sWN FREchoFilter 0x00 CRC:<0x7f>

[INFO] [1644325535.890212924] [sick_scan]: Failed to init scanner Error Code: 1
Waiting for timeout...
If the communication mode set in the scanner memory is different from that used by the driver, the scanner's communication mode is changed.
This requires a restart of the TCP-IP connection, which can extend the start time by up to 30 seconds. There are two ways to prevent this:
1. [Recommended] Set the communication mode with the SOPAS ET software to binary and save this setting in the scanner's EEPROM.
2. Use the parameter "use_binary_protocol" to overwrite the default settings of the driver.
[ERROR] [1644325535.890315485] [sick_scan]: ## ERROR in mainGenericLaser: init failed, retrying...
[INFO] [1644325535.890357808] [sick_scan]: Start initialising scanner [Ip: 192.168.88.115] [Port:2112]
[WARN] [1644325535.890391253] [sick_scan]: Disconnecting TCP-Connection.
[ERROR] [1644325535.890562948] [sick_scan]: Tcp::readInputData: Read 0 bytes, connection is lost!
[INFO] [1644325535.890651954] [sick_scan]: SickThread TcpRecvThread finished (flags: threadShouldRun=0, endThread=0).
[ERROR] [1644325535.898599688] [sick_scan]: ## ERROR in mainGenericLaser: exception parameter 'diagnostic_updater.period' has already been declared