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Livox-SDK / Livox-SDK2

Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360.
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STRANGE: cannot receive sensor data #69

Open Biruberuvinto opened 9 months ago

Biruberuvinto commented 9 months ago

So far, I have tried Livox Viewer, Livox-SDK2, and livox_ros2_driver, and confirmed that they all behave the same as the reference.

However, when I started up MID-360 for the first time in several months, I found that I was unable to receive sensor data, even though IP connectivity was confirmed. This phenomenon was confirmed in Viewer, SDK Quick Start, and RViz.

I would like to perform an operation such as checking the health status of the MID-360 equipment in order to isolate the problem.Does anyone know?

Information is provided below for your reference.

MID-360 information Firmware Version: 13.17.01.07 Hardware Version: 00.00.00.00 Loader Version: 13.14.99.9 Time Sync Type: No Sync

A warning is generated on the viewer with additional information.

PPS time synchronization fail becuase of loss GPS signal Please check GPS signal

GPS signal is abnormal Please check GPS time source

run livox_lidar_quick_start:

~/Livox-SDK2/build/samples/livox_lidar_quick_start$ ./livox_lidar_quick_start ../../../samples/livox_lidar_quick_start/mid360_config.json [2024-02-07 14:13:20.969] [console] [info] Livox lidar logger disable. [parse_cfg_file.cpp] [Parse] [84] [2024-02-07 14:13:20.969] [console] [info] Data Handler Init Succ. [data_handler.cpp] [Init] [49] [2024-02-07 14:13:20.969] [console] [info] Init livox lidars succ. [device_manager.cpp] [Init] [153]

Biruberuvinto commented 9 months ago

I have quoted, but followed by the output should normally be as follows.

[2023-01-20 12:02:04.523] [console] [info] Handle detection data, handle:1711384768, dev_type:9, sn:47MDKBV0010102, cmd_port:56100 [general_command_handler.cpp] [HandleDetectionData] [345] point cloud handle: 1711384768, data_num: 96, data_type: 1, length: 1380, frame_counter: 0 point cloud handle: 1711384768, data_num: 96, data_type: 1, length: 1380, frame_counter: 0 point cloud handle: 1711384768, data_num: 96, data_type: 1, length: 1380, frame_counter: 0 point cloud handle: 1711384768, data_num: 96, data_type: 1, length: 1380, frame_counter: 0 [2023-01-20 12:02:04.525] [console] [info] Receive Ack: Id 257 Seq 3 [mid360_command_handler.cpp] [Handle] [73] [2023-01-20 12:02:04.525] [console] [info] Query Fw type succ, the fw_type:1 [general_command_handler.cpp] [QueryFwTypeCallback] [489] point cloud handle: 1711384768, data_num: 96, data_type: 1, length: 1380, frame_counter: 0

arianizadi commented 9 months ago

Did you end up finding the issue? I am running into the same problem.

arianizadi commented 9 months ago

The issue ended up being the HOST PC and Lidar were not on the same subnet, for anyone looking at this in the future.

Biruberuvinto commented 9 months ago

Thank you for reaction! Just in case confirmed subnet and other settings of network, but didn't improvement.

I think your insight of network config is correct, because viewer, SDK, and ROS API all confirm connectivity and cannot receive point cloud data.

I will continue investigating as there may be another cause.

coolbotic commented 5 months ago

Did you ever find a solution to this? I am having the exact same problem, cannot receive data on SDK, ROS or Viewer and getting the same logs as you for the SDK. I had it working on this host computer before, so not sure what has changed, still works on a different host computer so I'm guessing something to do with Ubuntu install but not sure?

YueqiUNSW commented 2 months ago

Hey guys, I have encountered similar problems: my mid360 can't send data even if the IP configs are correct. I turn off all the firewalls of Windows and it works. Hope this could help you guys.