SICK nano M1 error and lost data

[Raymond601]

Hi ,
I met M1 error code 0x6307000E of nanoScan3 and can not receive any data from scanner when using nano for slam application.

I checked with SICK support and got that is due to the scanner got wrong TCP commands.

But to be honest, there is no more interaction after the 1st power on the slam ros driver, which means customer's slam contoller only activate the ros driver of nano once during the power on process as picture below.

I uploaded the normal procedure of the activation of nano data by wireshark, and also a packege with some unormal interaction between nano and controller when the issue happened.
[
tcpdump(0).zip
](url)

would you please help to check if there is any possible reason for above issue?
thank you!

[lenpuc]

Dear Raymond,

which firmware of the nanoScan3 are you using? I guess it might be 1.92 or 1.93. There seems to be a bug on the sensor side with this firmware. If these are the firmware you are suing, please get in touch with your SICK contact, they might be able to help you.

A similar problem has been seen in the ROS2 driver, see: SICKAG/sick_safetyscanners2#48

Additionally, I can't see the images and wireshark data, they don't seem to be uploaded correctly, I simply see dead links.
Best regards

[Raymond601]

Hi Puck-fzi,
Thank you for your information, I forward your recommendation to SICK AG, and I think they may get in touch with you these days.
one more quesion is that another engineer shared the ros driver document with me, but I cannot find the version inside it.
would you please help to check how can I find the ros revision？

[Raymond601]

SICK ROS.zip

[lenpuc]

Dear Raymond, I don't quiet understand the ROS version you mean, If you have the source code, you can look in the CHANGELOG.rst in the main folder, there it should state the latest version. According to your files its the version 1.0.8 for the ROS1 driver.

Could you try to resend the images from the initial issue, since I can't open them

[Raymond601]

Hi Puck-fzi,
Sorry for lately reply, I've uploaded the images and wireshark files in initial chatbox.
Would you please help to check if it's related to the firmware of nano 1.92 /.93 or other reasons?

One more question is that is there any reconnection method between laser scanner and host in the ros driver 1.0.9?
as several customers mentioned, once there is an issue on the safety laser scanner or network connection, their controller cannot got the data from laser scanner.
thank you!