SOPAS start up sequence sFA errors

[shubho-upenn]

Hi
I am trying to set up the drivers for SICK multiScan136 LiDAR with ROS. I am receiving SOPAS sFA errors. These errors occur during the SOPAS start up sequence, specifically during the sWN FREchoFilter 2, sWN ScanDataEthSettings 1, and sWN ScanDataEnable 0 messages. I am attaching the terminal output for the same below.

$ roslaunch sick_scan_xd sick_multiscan.launch hostname:=192.168.0.1 udp_receiver_ip:=192.168.0.135

... logging to /home/shubhodeep/.ros/log/95003e36-e344-11ef-a33d-d5a4e60faf4d/roslaunch-shubhodeep-G15-44368.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://shubhodeep-G15:34155/

SUMMARY
========

PARAMETERS
 * /multiScan/add_transform_check_dynamic_updates: False
 * /multiScan/add_transform_xyz_rpy: 0,0,0,0,0,0
 * /multiScan/check_udp_receiver_ip: True
 * /multiScan/check_udp_receiver_port: 2116
 * /multiScan/client_authorization_pw: F4724744
 * /multiScan/cloud_all_fields_fullframe: coordinateNotatio...
 * /multiScan/cloud_all_fields_segments: coordinateNotatio...
 * /multiScan/cloud_polar_unstructured_fullframe: coordinateNotatio...
 * /multiScan/cloud_polar_unstructured_segments: coordinateNotatio...
 * /multiScan/cloud_structured: coordinateNotatio...
 * /multiScan/cloud_structured_hires0: coordinateNotatio...
 * /multiScan/cloud_structured_hires0_segments: coordinateNotatio...
 * /multiScan/cloud_structured_hires1: coordinateNotatio...
 * /multiScan/cloud_structured_hires1_segments: coordinateNotatio...
 * /multiScan/cloud_structured_segments: coordinateNotatio...
 * /multiScan/cloud_unstructured_echo1: coordinateNotatio...
 * /multiScan/cloud_unstructured_echo1_segments: coordinateNotatio...
 * /multiScan/cloud_unstructured_echo2: coordinateNotatio...
 * /multiScan/cloud_unstructured_echo2_segments: coordinateNotatio...
 * /multiScan/cloud_unstructured_echo3: coordinateNotatio...
 * /multiScan/cloud_unstructured_echo3_segments: coordinateNotatio...
 * /multiScan/cloud_unstructured_fullframe: coordinateNotatio...
 * /multiScan/cloud_unstructured_reflector: coordinateNotatio...
 * /multiScan/cloud_unstructured_reflector_segments: coordinateNotatio...
 * /multiScan/cloud_unstructured_segments: coordinateNotatio...
 * /multiScan/custom_pointclouds: cloud_unstructure...
 * /multiScan/export_csv: False
 * /multiScan/export_udp_msg: False
 * /multiScan/host_FREchoFilter: 2
 * /multiScan/host_LFPangleRangeFilter: 0 -180.0 +179.0 -...
 * /multiScan/host_LFPintervalFilter: 0 1
 * /multiScan/host_LFPlayerFilter: 0 1 1 1 1 1 1 1 1...
 * /multiScan/host_read_filtersettings: True
 * /multiScan/host_set_FREchoFilter: True
 * /multiScan/host_set_LFPangleRangeFilter: False
 * /multiScan/host_set_LFPintervalFilter: False
 * /multiScan/host_set_LFPlayerFilter: False
 * /multiScan/hostname: 192.168.0.1
 * /multiScan/imu_enable: True
 * /multiScan/imu_latency_microsec: 0
 * /multiScan/imu_topic: imu
 * /multiScan/imu_udp_port: 7503
 * /multiScan/laserscan_layer_filter: 0 0 0 0 0 1 0 0 0...
 * /multiScan/logfolder: 
 * /multiScan/measure_timing: True
 * /multiScan/msgpack_output_fifolength: 20
 * /multiScan/msgpack_validator_azimuth_end: 180.0
 * /multiScan/msgpack_validator_azimuth_start: -180.0
 * /multiScan/msgpack_validator_check_missing_scandata_interval: 12
 * /multiScan/msgpack_validator_discard_msgpacks_out_of_bounds: True
 * /multiScan/msgpack_validator_elevation_end: 90.0
 * /multiScan/msgpack_validator_elevation_start: -90.0
 * /multiScan/msgpack_validator_enabled: False
 * /multiScan/msgpack_validator_layer_filter: 1 1 1 1 1 1 1 1 1...
 * /multiScan/msgpack_validator_required_echos: 0
 * /multiScan/msgpack_validator_valid_segments: 0 1 2 3 4 5 6 7 8...
 * /multiScan/msgpack_validator_verbose: 1
 * /multiScan/publish_frame_id: world
 * /multiScan/publish_laserscan_fullframe_topic: scan_fullframe
 * /multiScan/publish_laserscan_segment_topic: scan_segment
 * /multiScan/ros_qos: -1
 * /multiScan/scandataformat: 2
 * /multiScan/scanner_type: sick_multiscan
 * /multiScan/segment_count: 12
 * /multiScan/send_sopas_start_stop_cmd: True
 * /multiScan/sopas_cola_binary: False
 * /multiScan/sopas_tcp_port: 2111
 * /multiScan/sopas_timeout_ms: 5000
 * /multiScan/start_sopas_service: True
 * /multiScan/tf_base_frame_id: map
 * /multiScan/tf_base_lidar_xyz_rpy: 0,0,0,0,0,0
 * /multiScan/tf_publish_rate: 10.0
 * /multiScan/tick_to_timestamp_mode: 0
 * /multiScan/udp_input_fifolength: 20
 * /multiScan/udp_port: 2115
 * /multiScan/udp_receiver_ip: 192.168.0.135
 * /multiScan/udp_sender: 
 * /multiScan/udp_timeout_ms: 10000
 * /multiScan/udp_timeout_ms_initial: 60000
 * /multiScan/verbose_level: 1
 * /rosdistro: noetic
 * /rosversion: 1.17.0

NODES
  /
    multiScan (sick_scan_xd/sick_generic_caller)

auto-starting new master
process[master]: started with pid [44395]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 95003e36-e344-11ef-a33d-d5a4e60faf4d
process[rosout-1]: started with pid [44424]
started core service [/rosout]
process[multiScan-2]: started with pid [44431]
[ INFO] [1738706917.263683971]: sick_generic_caller V. 3.6.0 githash:"7cab14fb4e3ec05fb59eea19039823510abfc688" gitinfo:"2024-10-23 14:46:37 +0200	Alexander Weinmann	Merge branch 'release/3.6.0'"
[ INFO] [1738706917.264272336]: Program argument 1: /home/shubhodeep/sick_scan_ws/devel_isolated/sick_scan_xd/lib/sick_scan_xd/sick_generic_caller
[ INFO] [1738706917.264279355]: Program argument 2: __log:=/home/shubhodeep/.ros/log/95003e36-e344-11ef-a33d-d5a4e60faf4d/multiScan-2.log
[ INFO] [1738706917.264283675]: Program argument 3: __name:=multiScan
[ INFO] [1738706917.264288386]: ==========================================
[ INFO] [1738706917.266244811]: SickTransformPublisher: broadcasting TF messages parent_frame_id="map", child_frame_id="world", (x,y,z,roll,pitch,yaw)=(0.0,0.0,0.0,0.0,0.0,0.0), rate=10.0
[ INFO] [1738706917.273722404]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[ INFO] [1738706917.273752618]: SickCloudTransform: azimuth_offset = 0 [deg]
[ INFO] [1738706917.273771125]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[ INFO] [1738706917.273782047]: SickCloudTransform: apply 3x3 rotation = false
[ INFO] [1738706917.273795887]: SickCloudTransform: additional translation = (0,0,0)
[ INFO] [1738706917.273806736]: SickCloudTransform: check_dynamic_updates = false
[ INFO] [1738706917.273996646]: sick_scansegment_xd configuration:
[ INFO] [1738706917.274013720]: scanner_type:                     sick_multiscan
[ INFO] [1738706917.274025613]: udp_sender:                       
[ INFO] [1738706917.274036821]: udp_port:                         2115
[ INFO] [1738706917.274047192]: check_udp_receiver_ip:            1
[ INFO] [1738706917.274057306]: check_udp_receiver_port:          2116
[ INFO] [1738706917.274072233]: all_segments_min_deg:             -180
[ INFO] [1738706917.274084378]: all_segments_max_deg:             180
[ INFO] [1738706917.274094765]: publish_frame_id:                 world
[ INFO] [1738706917.274105233]: publish_laserscan_segment_topic:  scan_segment
[ INFO] [1738706917.274115426]: publish_laserscan_fullframe_topic:scan_fullframe
[ INFO] [1738706917.274125486]: udp_input_fifolength:             20
[ INFO] [1738706917.274135698]: msgpack_output_fifolength:        20
[ INFO] [1738706917.274146046]: verbose_level:                    1
[ INFO] [1738706917.274156086]: measure_timing:                   1
[ INFO] [1738706917.274165980]: export_csv:                       0
[ INFO] [1738706917.274176251]: export_udp_msg:                   0
[ INFO] [1738706917.274186537]: logfolder:                        
[ INFO] [1738706917.274198124]: hostname:                         192.168.0.1
[ INFO] [1738706917.274212622]: udp_receiver_ip:                  192.168.0.135
[ INFO] [1738706917.274227274]: udp_timeout_ms:                   10000
[ INFO] [1738706917.274241396]: udp_timeout_ms_initial:           60000
[ INFO] [1738706917.274257516]: scandataformat:                   2
[ INFO] [1738706917.274271608]: performanceprofilenumber:         -1
[ INFO] [1738706917.274285726]: imu_enable:                       1
[ INFO] [1738706917.274299904]: imu_topic:                        imu
[ INFO] [1738706917.274314105]: imu_udp_port:                     7503
[ INFO] [1738706917.274328122]: imu_latency_microsec:             0
[ INFO] [1738706917.274342670]: sopas_tcp_port:                   2111
[ INFO] [1738706917.274356550]: start_sopas_service:              1
[ INFO] [1738706917.274370757]: send_sopas_start_stop_cmd:        1
[ INFO] [1738706917.274384803]: sopas_cola_binary:                0
[ INFO] [1738706917.274398645]: sopas_timeout_ms:                 5000
[ INFO] [1738706917.274412514]: host_read_filtersettings:         1
[ INFO] [1738706917.274426663]: host_FREchoFilter:                2
[ INFO] [1738706917.274440517]: host_set_FREchoFilter:            1
[ INFO] [1738706917.274454931]: host_LFPangleRangeFilter:         0 -180.0 +179.0 -90.0 +90.0 1
[ INFO] [1738706917.274469962]: host_set_LFPangleRangeFilter:     0
[ INFO] [1738706917.274484273]: host_LFPlayerFilter:              0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
[ INFO] [1738706917.274507878]: host_set_LFPlayerFilter:          0
[ INFO] [1738706917.274523051]: host_LFPintervalFilter:           0 1
[ INFO] [1738706917.274537997]: host_set_LFPintervalFilter:       0
[ INFO] [1738706917.274556839]: laserscan_layer_filter:           0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0
[ INFO] [1738706917.274571893]: msgpack_validator_enabled:                         0
[ INFO] [1738706917.274586385]: msgpack_validator_verbose:                         1
[ INFO] [1738706917.274600843]: msgpack_validator_discard_msgpacks_out_of_bounds:  1
[ INFO] [1738706917.274615046]: msgpack_validator_check_missing_scandata_interval: 12
[ INFO] [1738706917.274631420]: msgpack_validator_required_echos:                  0
[ INFO] [1738706917.274648650]: msgpack_validator_azimuth_start:                   -3.14159 [rad]
[ INFO] [1738706917.274666534]: msgpack_validator_azimuth_end:                     3.14159 [rad]
[ INFO] [1738706917.274683022]: msgpack_validator_elevation_start:                 -1.5708 [rad]
[ INFO] [1738706917.274699032]: msgpack_validator_elevation_end:                   1.5708 [rad]
[ INFO] [1738706917.274718064]: msgpack_validator_valid_segments:                  0 1 2 3 4 5 6 7 8 9 10 11
[ INFO] [1738706917.274736950]: msgpack_validator_layer_filter:                    1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
[ INFO] [1738706917.274758546]: sick_scansegment_xd (sick_multiscan) started.
[ INFO] [1738706917.274905279]: sick_scansegment_xd::runThreadCb() start (173,1,1)...
[ INFO] [1738706917.274937292]: sick_scansegment_xd initializing...
[ INFO] [1738706917.274964008]: UdpReceiverSocketImpl: udp socket created, binding to port 2115 ... 
[ INFO] [1738706917.274980541]: sick_scansegment_xd: udp socket to :2115 initialized
[ INFO] [1738706917.274996236]: UdpReceiverSocketImpl: udp socket created, binding to port 7503 ... 
[ INFO] [1738706917.275014086]: sick_scansegment_xd: udp socket to :7503 initialized
[ INFO] [1738706917.275735273]: RosMsgpackPublisher: publishing LaserScan segment messages on topic "scan_segment"
[ INFO] [1738706917.275979661]: RosMsgpackPublisher: publishing LaserScan fullframe messages on topic "scan_fullframe"
[ INFO] [1738706917.276199249]: RosMsgpackPublisher: publishing Imu messages on topic "imu"
[ INFO] [1738706917.276545668]: CustomPointCloudConfiguration(cloud_unstructured_segments): publish = 1
[ INFO] [1738706917.276555872]: CustomPointCloudConfiguration(cloud_unstructured_segments): topic = /cloud_unstructured_segments
[ INFO] [1738706917.276566571]: CustomPointCloudConfiguration(cloud_unstructured_segments): frameid = world
[ INFO] [1738706917.276576904]: CustomPointCloudConfiguration(cloud_unstructured_segments): coordinate_notation = 0
[ INFO] [1738706917.276588039]: CustomPointCloudConfiguration(cloud_unstructured_segments): update_method = 1
[ INFO] [1738706917.276600342]: CustomPointCloudConfiguration(cloud_unstructured_segments): fields_enabled = i,x,y,z
[ INFO] [1738706917.276612298]: CustomPointCloudConfiguration(cloud_unstructured_segments): echos_enabled = 0,1,2
[ INFO] [1738706917.276626673]: CustomPointCloudConfiguration(cloud_unstructured_segments): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[ INFO] [1738706917.276637303]: CustomPointCloudConfiguration(cloud_unstructured_segments): reflector_enabled = 0,1
[ INFO] [1738706917.276647681]: CustomPointCloudConfiguration(cloud_unstructured_segments): infringed_enabled = 0,1
[ INFO] [1738706917.276664023]: CustomPointCloudConfiguration(cloud_unstructured_segments): range_filter = (0.050,999.000,1)
[ INFO] [1738706917.277073627]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): publish = 1
[ INFO] [1738706917.277085283]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): topic = /cloud_unstructured_fullframe
[ INFO] [1738706917.277096617]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): frameid = world
[ INFO] [1738706917.277105905]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): coordinate_notation = 0
[ INFO] [1738706917.277115760]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): update_method = 0
[ INFO] [1738706917.277126433]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): fields_enabled = i,x,y,z
[ INFO] [1738706917.277137136]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): echos_enabled = 0,1,2
[ INFO] [1738706917.277150765]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[ INFO] [1738706917.277161206]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): reflector_enabled = 0,1
[ INFO] [1738706917.277171097]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): infringed_enabled = 0,1
[ INFO] [1738706917.277183390]: CustomPointCloudConfiguration(cloud_unstructured_fullframe): range_filter = (0.050,999.000,1)
[ INFO] [1738706917.277631684]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): publish = 1
[ INFO] [1738706917.277640961]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): topic = /cloud_polar_unstructured_segments
[ INFO] [1738706917.277651034]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): frameid = world
[ INFO] [1738706917.277662004]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): coordinate_notation = 1
[ INFO] [1738706917.277671951]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): update_method = 1
[ INFO] [1738706917.277683662]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): fields_enabled = azimuth,elevation,i,range
[ INFO] [1738706917.277695093]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): echos_enabled = 0,1,2
[ INFO] [1738706917.277708818]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[ INFO] [1738706917.277721388]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): reflector_enabled = 0,1
[ INFO] [1738706917.277731673]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): infringed_enabled = 0,1
[ INFO] [1738706917.277743947]: CustomPointCloudConfiguration(cloud_polar_unstructured_segments): range_filter = (0.050,999.000,1)
[ INFO] [1738706917.278166980]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): publish = 1
[ INFO] [1738706917.278178033]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): topic = /cloud_polar_unstructured_fullframe
[ INFO] [1738706917.278194997]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): frameid = world
[ INFO] [1738706917.278206707]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): coordinate_notation = 1
[ INFO] [1738706917.278217398]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): update_method = 0
[ INFO] [1738706917.278229158]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): fields_enabled = azimuth,elevation,i,range
[ INFO] [1738706917.278240143]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): echos_enabled = 0,1,2
[ INFO] [1738706917.278254047]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[ INFO] [1738706917.278265125]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): reflector_enabled = 0,1
[ INFO] [1738706917.278276866]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): infringed_enabled = 0,1
[ INFO] [1738706917.278290105]: CustomPointCloudConfiguration(cloud_polar_unstructured_fullframe): range_filter = (0.050,999.000,1)
[ INFO] [1738706917.278726134]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): publish = 1
[ INFO] [1738706917.278736621]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): topic = /cloud_all_fields_fullframe
[ INFO] [1738706917.278747349]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): frameid = world
[ INFO] [1738706917.278757730]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): coordinate_notation = 3
[ INFO] [1738706917.278767862]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): update_method = 0
[ INFO] [1738706917.278782975]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): fields_enabled = azimuth,echo,elevation,i,layer,lidar_nsec,lidar_sec,range,reflector,ring,t,ts,x,y,z
[ INFO] [1738706917.278794480]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): echos_enabled = 0,1,2
[ INFO] [1738706917.278809348]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): layers_enabled = 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15
[ INFO] [1738706917.278820345]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): reflector_enabled = 0,1
[ INFO] [1738706917.278830892]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): infringed_enabled = 0,1
[ INFO] [1738706917.278844662]: CustomPointCloudConfiguration(cloud_all_fields_fullframe): range_filter = (0.000,999.000,0)
[ INFO] [1738706917.279169031]: MsgPackThreads: Start msgpack converter, udp receiver and msgpack exporter, receiving from :2115
[ INFO] [1738706917.279197147]: MsgPackThreads: udp receiver for imu data started, receiving from :7503
[ INFO] [1738706917.279234030]: MsgPackThreads: initializing sopas tcp (192.168.0.1:2111, timeout:5, binary:0)
[ INFO] [1738706917.294125495]: use_generation_timestamp:=0, using lidar send timestamp instead of generation timestamp for software pll converted message timestamp.
[ INFO] [1738706917.294984711]: SickCloudTransform: add_transform_xyz_rpy = (0,0,0,0,0,0)
[ INFO] [1738706917.294991201]: SickCloudTransform: azimuth_offset = 0 [deg]
[ INFO] [1738706917.294999462]: SickCloudTransform: additional 3x3 rotation matrix = { (1,0,0), (0,1,0), (0,0,1) }
[ INFO] [1738706917.295004238]: SickCloudTransform: apply 3x3 rotation = false
[ INFO] [1738706917.295009948]: SickCloudTransform: additional translation = (0,0,0)
[ INFO] [1738706917.295016247]: SickCloudTransform: check_dynamic_updates = false
[ INFO] [1738706917.295023706]: MsgPackThreads: initializing device
[ INFO] [1738706917.295036499]: sick_scan_xd: Tcp::open: connecting to 192.168.0.1:2111 ...
[ INFO] [1738706917.295250013]: sick_scan_xd Tcp::open: connected to 192.168.0.1:2111
[ INFO] [1738706917.295255947]: MsgPackThreads: initializing services
[ INFO] [1738706917.295364542]: SickThread TcpRecvThread started.
[ INFO] [1738706917.295487967]: SickScanServices: service "/multiScan/ColaMsg" created ("/multiScan/ColaMsg")
[ INFO] [1738706917.295604115]: SickScanServices: service "/multiScan/ECRChangeArr" created ("/multiScan/ECRChangeArr")
[ INFO] [1738706917.295722786]: SickScanServices: service "/multiScan/GetContaminationResult" created ("/multiScan/GetContaminationResult")
[ INFO] [1738706917.295840930]: SickScanServices: service "/multiScan/LIDoutputstate" created ("/multiScan/LIDoutputstate")
[ INFO] [1738706917.295952565]: SickScanServices: service "/multiScan/SCdevicestate" created ("/multiScan/SCdevicestate")
[ INFO] [1738706917.296068847]: SickScanServices: service "/multiScan/SCreboot" created ("/multiScan/SCreboot")
[ INFO] [1738706917.296189098]: SickScanServices: service "/multiScan/SCsoftreset" created ("/multiScan/SCsoftreset")
[ INFO] [1738706917.296301823]: SickScanServices: service "/multiScan/SickScanExit" created ("/multiScan/SickScanExit")
[ INFO] [1738706917.296306975]: MsgPackThreads: ros services initialized
[ INFO] [1738706917.296313266]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706917.296338462]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[ INFO] [1738706917.299477141]: Receiving: <STX>sAN SetAccessMode 0<ETX>
[ERROR] [1738706917.299505316]: Unexpected response "\x02sAN SetAccessMode 0\x03" received from lidar, "sAN SetAccessMode 0" not expected, SOPAS command failed.
[ INFO] [1738706917.299519055]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 0"
[ INFO] [1738706917.299526401]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706917.299533433]: SickScanServices: response: "sAN SetAccessMode 0"
[ INFO] [1738706917.299540857]: SickScanServices: Sending request "sWN FREchoFilter 2"
[ INFO] [1738706917.299549919]: Sending  : <STX>sWN FREchoFilter 2<ETX>
[ INFO] [1738706917.302261434]: Receiving: <STX>sFA A<ETX>
[ WARN] [1738706917.302282013]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX>sWN FREchoFilter 2<ETX>, received answer: "sFA A", expected patterns: "sWA FREchoFilter","sAN FREchoFilter"
[ WARN] [1738706917.302296723]: Sopas error code A received from lidar
[ERROR] [1738706917.302310350]: ## ERROR SickScanServices::sendSopasAndCheckAnswer: error sending sopas command "sWN FREchoFilter 2"
[ERROR] [1738706917.302319649]: ## ERROR SickScanServices::sendSopasCmdCheckResponse() failed on sending command"sWN FREchoFilter 2"
[ERROR] [1738706917.302327818]: ## ERROR SickScanServices::writeMultiScanFiltersettings(): sendSopasCmdCheckResponse("sWN FREchoFilter 2") failed.
[ INFO] [1738706917.302335763]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706917.302346879]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[ INFO] [1738706917.303295300]: Receiving: <STX>sAN SetAccessMode 0<ETX>
[ERROR] [1738706917.303314704]: Unexpected response "\x02sAN SetAccessMode 0\x03" received from lidar, "sAN SetAccessMode 0" not expected, SOPAS command failed.
[ INFO] [1738706917.303325437]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 0"
[ INFO] [1738706917.303335135]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706917.303344769]: SickScanServices: response: "sAN SetAccessMode 0"
[ INFO] [1738706917.303356697]: SickScanServices: Sending request "sRN FREchoFilter"
[ INFO] [1738706917.303366825]: Sending  : <STX>sRN FREchoFilter<ETX>
[ INFO] [1738706917.304246224]: Receiving: <STX>sRA FREchoFilter 0<ETX>
[ INFO] [1738706917.304272319]: SickScanServices: Request "sRN FREchoFilter" successfully sent, received reply "sRA FREchoFilter 0"
[ INFO] [1738706917.304282210]: SickScanServices: Sending request "sRN LFPangleRangeFilter"
[ INFO] [1738706917.304294415]: Sending  : <STX>sRN LFPangleRangeFilter<ETX>
[ INFO] [1738706917.307126658]: Receiving: <STX>sRA LFPangleRangeFilter 0 FFF24460 DBBA0 FFF24460 DBBA0 1<ETX>
[ INFO] [1738706917.307146755]: SickScanServices: Request "sRN LFPangleRangeFilter" successfully sent, received reply "sRA LFPangleRangeFilter 0 FFF24460 DBBA0 FFF24460 DBBA0 1"
[ INFO] [1738706917.307172388]: SickScanServices: Sending request "sRN LFPlayerFilter"
[ INFO] [1738706917.307188798]: Sending  : <STX>sRN LFPlayerFilter<ETX>
[ INFO] [1738706917.310120019]: Receiving: <STX>sRA LFPlayerFilter 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1<ETX>
[ INFO] [1738706917.310139979]: SickScanServices: Request "sRN LFPlayerFilter" successfully sent, received reply "sRA LFPlayerFilter 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
[ INFO] [1738706917.310162001]: SickScanServices::queryMultiScanFiltersettings(): FREchoFilter: "0" = {0}
[ INFO] [1738706917.310181722]: SickScanServices::queryMultiScanFiltersettings(): LFPangleRangeFilter: "0 FFF24460 DBBA0 FFF24460 DBBA0 1" = {0,FFF24460,DBBA0,FFF24460,DBBA0,1}
[ INFO] [1738706917.310204632]: SickScanServices::queryMultiScanFiltersettings(): LFPlayerFilter: "0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" = {0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1}
[ INFO] [1738706917.310234710]: SickScanServices::queryMultiScanFiltersettings(): sopas.FREchoFilter = "0", sopas.LFPangleRangeFilter = "0 -90 90 -90 90 1", sopas.LFPlayerFilter = "0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
[ INFO] [1738706917.310277842]: SickScanServices::queryMultiScanFiltersettings(): msgpack_validator_required_echos = { 0 }, msgpack_validator_angles = { -3.14159 3.14159 -1.5708 1.5708 } [rad], msgpack_validator_layer_filter = { 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 }
[ INFO] [1738706917.310307003]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706917.310325501]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[ INFO] [1738706917.311036057]: Receiving: <STX>sAN SetAccessMode 0<ETX>
[ERROR] [1738706917.311072187]: Unexpected response "\x02sAN SetAccessMode 0\x03" received from lidar, "sAN SetAccessMode 0" not expected, SOPAS command failed.
[ INFO] [1738706917.311089088]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 0"
[ INFO] [1738706917.311102756]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706917.311115692]: SickScanServices: response: "sAN SetAccessMode 0"
[ INFO] [1738706917.311149937]: UdpReceiverSocketImpl: udp socket created, binding to port 2116 ... 
[ INFO] [1738706917.311200602]: SickScanServices::sendMultiScanStartCmd(): UDP test message successfully send to 192.168.0.135:2116, parameter udp_receiver_ip="192.168.0.135" is valid.
[ INFO] [1738706917.311236233]: SickScanServices: Sending request "sWN ScanDataEthSettings 1 +192 +168 +0 +135 +2115"
[ INFO] [1738706917.311253930]: Sending  : <STX>sWN ScanDataEthSettings 1 +192 +168 +0 +135 +2115<ETX>
[ INFO] [1738706917.312209503]: Receiving: <STX>sFA A<ETX>
[ WARN] [1738706917.312240680]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX>sWN ScanDataEthSettings 1 +192 +168 +0 +135 +2115<ETX>, received answer: "sFA A", expected patterns: "sWA ScanDataEthSettings","sAN ScanDataEthSettings"
[ WARN] [1738706917.312260709]: Sopas error code A received from lidar
[ERROR] [1738706917.312278501]: ## ERROR SickScanServices::sendSopasAndCheckAnswer: error sending sopas command "sWN ScanDataEthSettings 1 +192 +168 +0 +135 +2115"
[ERROR] [1738706917.312295642]: ## ERROR SickScanServices::sendSopasCmdCheckResponse() failed on sending command"sWN ScanDataEthSettings 1 +192 +168 +0 +135 +2115"
[ERROR] [1738706917.312319156]: ## ERROR SickScanServices::sendMultiScanStartCmd(): sendSopasCmdCheckResponse("sWN ScanDataEthSettings 1") failed.
[ERROR] [1738706917.312343767]: ## ERROR sick_scansegment_xd: failed to send startup sequence, receiving scan data may fail.
^C[multiScan-2] killing on exit
[ INFO] [1738706918.190804643]: Caught signal 2

[ INFO] [1738706918.190875899]: good bye

[ INFO] [1738706918.190899841]: You are leaving the following version of this node:

[ INFO] [1738706918.190923363]: sick_generic_caller V. 3.6.0 githash:"7cab14fb4e3ec05fb59eea19039823510abfc688" gitinfo:"2024-10-23 14:46:37 +0200	Alexander Weinmann	Merge branch 'release/3.6.0'"

[ INFO] [1738706918.190959665]: sick_generic_laser: stop and exit (line 218)
[ INFO] [1738706918.195351189]: sick_scansegment_xd finishing (382)
[ INFO] [1738706918.196593083]: sick_scansegment_xd finishing (392)
sick_scansegment_xd exit: sending stop commands...
[ INFO] [1738706918.196651809]: SickScanServices: Sending request "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706918.196686596]: Sending  : <STX>sMN SetAccessMode 3 F4724744<ETX>
[ INFO] [1738706918.197338317]: Receiving: <STX>sAN SetAccessMode 0<ETX>
[ERROR] [1738706918.197437905]: Unexpected response "\x02sAN SetAccessMode 0\x03" received from lidar, "sAN SetAccessMode 0" not expected, SOPAS command failed.
[ INFO] [1738706918.197464840]: SickScanServices: Request "sMN SetAccessMode 3 F4724744" successfully sent, received reply "sAN SetAccessMode 0"
[ INFO] [1738706918.197486871]: SickScanServices: request: "sMN SetAccessMode 3 F4724744"
[ INFO] [1738706918.197503948]: SickScanServices: response: "sAN SetAccessMode 0"
[ INFO] [1738706918.197530940]: SickScanServices: Sending request "sWN ScanDataEnable 0"
[ INFO] [1738706918.197552451]: Sending  : <STX>sWN ScanDataEnable 0<ETX>
[ INFO] [1738706918.198250518]: Receiving: <STX>sFA A<ETX>
[ WARN] [1738706918.198296624]: Error Sopas answer mismatch: Error unexpected Sopas answer for request <STX>sWN ScanDataEnable 0<ETX>, received answer: "sFA A", expected patterns: "sWA ScanDataEnable","sAN ScanDataEnable"
[ WARN] [1738706918.198311828]: Sopas error code A received from lidar
[ERROR] [1738706918.198326323]: ## ERROR SickScanServices::sendSopasAndCheckAnswer: error sending sopas command "sWN ScanDataEnable 0"
[ERROR] [1738706918.198338038]: ## ERROR SickScanServices::sendSopasCmdCheckResponse() failed on sending command"sWN ScanDataEnable 0"
[ERROR] [1738706918.198352905]: ## ERROR SickScanServices::sendMultiScanStopCmd(): sendSopasCmdCheckResponse("sWN ScanDataEnable 0") failed.

I have already cross-checked the <udp_receiver_ip> IP address and am able to access the LiDAR point cloud in the SOPAS web browser GUI. I attempted the setup in ROS1 (Noetic) with Ubuntu20.04 and ROS2 (Humble) with Ubuntu22.04, and am getting the same issue with both.
The LiDAR is currently on firmware version 1.2.3.

Thanks in advance!

[rostest]

Thanks for your feedback and logfile. The error message Unexpected response "\x02sAN SetAccessMode 0\x03" received from lidar indicates that the authorization with the default password failed. The missing authorization causes sFA errors on the next commands. Most probably the password was changed.

There are two options to solve the problem:

1. Reset the lidar to factory defaults. After that, the password is reset to the default value.

2. Determine the hash value of your password with SOPAS ET. The password hash is a 32 bit value, F4724744 by default. Set the new hash value in the launchfile sick_multiscan.launch:

   <param name="client_authorization_pw" type="string" value="F4724744" /> <!-- Default password hash for client authorization -->
   

[shubho-upenn]

Worked! Thanks for the help.