The Python script
sick_scan/tools/sick_generic_device_finder/sick_generic_device_finder.py
sends a UDP broadcast to which all available scanners respond with a device description.
The varibale UDP_IP = "192.168.0.255" defines the broardcast address used by the script.
If you are using a different IP address configuration on your host pc you have to change this variable according to the brodcast address of your network card.
ifconfig shows the broadcast address for every network adapter.
The IP address of the device can be changed with a customized launch file. The following launch sequence is an example:
roslaunch sick_scan sick_new_ip.launch hostname:=192.168.0.1 new_IP:=192.168.0.100
The launchfile restarts the lidar after the address change and stops the sick_scan node. After a few seconds of booting time the scanner is reachable under the new IP address. The Python script is experimental. It is known that some ethernet adapter are not fully supported. As a fallback solution you can always use the SOPAS ET software under windows.
The lidar is delivered with a standard IP address, to read or change it the SICK SOPAS ET for windows can be used.
When the tool is started, a search is performed which lists all scanners available in the network.
Double-click to select the scanner for the project
Double click on the lidar icon to open the configuration menu of the scanner
Select here the network configuration menu and set the parameters by clicking on the save icon (red arrow)
To ensure that the settings are stored even after a power cycle, they must be stored in the eeprom. To do this, click on the eeprom icon and confirm the save.
To test the settings under Windows use the commands ipconfig and ping in the cmd.exe. Make sure that the lidar and host pc have different ip addresses e.g. 192.168.0.110 for the pc and 192.168.0.71 for the scanner.
to test the settings under the Linux target system you can use netcat to check if a TCP connection to the scanner can be established
nc -z -v -w5 $SCANNERIPADDRESS 2112
the connection can be successfully established
unlike a ping, the connection attempt to the hostpc is not successful
