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Livox-SDK / livox_high_precision_mapping

High precision mapping with livox and apx-15
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Lidar time error #14

Closed cojeffj closed 2 years ago

cojeffj commented 2 years ago

Hi, I seem to have hit a wall in getting this package running correctly. I finally have the package successfully connecting to the apx-15 and livox mid-100. However, when I run the package, I am getting "lidar time error" messages:

Screenshot from 2022-03-03 15-03-24

I also am getting periodic serial open/success then disconnect messages (not sure if this is normal):

Screenshot from 2022-03-03 15-03-48

It does appear that it's connecting to the rs232 adapter. I have verified that the output from the apx-15 is correct and double checked settings in the apx-15 interface. The APX-15 has a GPS fix and is outputting PPS. I've also verified in livox viewer that the lidar units are seeing the PPS pulse and showing as synced.

Screenshot from 2022-03-03 15-00-25

Screenshot 2022-03-03 230305

Additionally, the rviz showing the pub_pointcloud2 topic doesn't show anything, and the package doesn't seem to be writing anything to the path specified in livox_mapping.launch.

Screenshot from 2022-03-03 15-11-49

The rviz session showing the real time lidar from the livox ros driver displays a point cloud.

Screenshot from 2022-03-03 14-59-21

Here is a sample of the entire output if it's helpful.

livox_mapping output tac@TAC:/media/tac/C01AD6601AD652D0/Livox_output$ roslaunch livox_mapping mapping_online.launch ... logging to /home/tac/.ros/log/f5de5b5a-9b32-11ec-becd-705812e2b47d/roslaunch-TAC-5561.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://TAC:46777/ SUMMARY ======== PARAMETERS * /apx15_gsof_driver/baud: 230400 * /apx15_gsof_driver/port: /dev/TTL_to_USB * /cmdline_file_path: livox_test.lvx * /cmdline_str: 100000000000000 * /data_src: 0 * /enable_imu_bag: True * /enable_lidar_bag: True * /frame_id: livox_frame * /livox_mapping_case/map_file_path: /home/tac/livox_o... * /multi_topic: 0 * /output_data_type: 0 * /publish_freq: 10.0 * /rosdistro: melodic * /rosversion: 1.14.12 * /user_config_path: /home/tac/ws_livo... * /xfer_format: 0 NODES / apx15_gsof_driver (apx15/apx15_gsof_driver) livox_lidar_publisher (livox_ros_driver/livox_ros_driver_node) livox_mapping_case (livox_mapping/livox_mapping_case) rviz (rviz/rviz) rviz2 (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[livox_lidar_publisher-1]: started with pid [5576] process[rviz-2]: started with pid [5577] [ INFO] [1646341129.561544824]: Livox Ros Driver Version: 2.6.0 [ INFO] [1646341129.568539179]: Data Source is raw lidar. [ INFO] [1646341129.569278996]: Config file : /home/tac/ws_livox/src/livox_ros_driver/config/livox_lidar_config.json Commandline input bd:100000000000000 Invalid bd:100000000000000! Livox SDK version 2.3.0 broadcast code[1LVDG1F006E94F1] : 1 0 0 0 0 0 Add Raw user config : 1LVDG1F006E94F1 broadcast code[1LVDG1F006E94F2] : 1 0 0 0 0 0 Add Raw user config : 1LVDG1F006E94F2 broadcast code[1LVDG1F006E94F3] : 1 0 0 0 0 0 Add Raw user config : 1LVDG1F006E94F3 Enable timesync : Uart[/dev/RS232_to_USB],baudrate index[6],parity index[0] Disable auto connect mode! List all broadcast code in whiltelist: 1LVDG1F006E94F1 1LVDG1F006E94F2 1LVDG1F006E94F3 Livox-SDK init success! [ INFO] [1646341129.572384182]: Init lds lidar success! Open /dev/RS232_to_USB success! process[apx15_gsof_driver-3]: started with pid [5583] process[livox_mapping_case-4]: started with pid [5591] [ INFO] [1646341129.589574021]: Successfully connected to serial port. process[rviz2-5]: started with pid [5594] [2022-03-03 14:58:49.629] [console] [info] Broadcast broadcast code: 1LVDG1F006E94F2 [device_discovery.cpp] [OnBroadcast] [150] [2022-03-03 14:58:49.630] [console] [info] LocalIP: 192.168.1.200 [device_discovery.cpp] [OnBroadcast] [201] [2022-03-03 14:58:49.630] [console] [info] DeviceIP: 192.168.1.81 [device_discovery.cpp] [OnBroadcast] [202] [2022-03-03 14:58:49.630] [console] [info] Command Port: 55501 [device_discovery.cpp] [OnBroadcast] [203] [2022-03-03 14:58:49.630] [console] [info] Data Port: 56001 [device_discovery.cpp] [OnBroadcast] [204] [2022-03-03 14:58:49.653] [console] [info] New Device [device_discovery.cpp] [OnData] [99] [2022-03-03 14:58:49.654] [console] [info] Handle: 0 [device_discovery.cpp] [OnData] [100] [2022-03-03 14:58:49.654] [console] [info] Broadcast Code: 1LVDG1F006E94F2 [device_discovery.cpp] [OnData] [101] [2022-03-03 14:58:49.654] [console] [info] Type: 1 [device_discovery.cpp] [OnData] [102] [2022-03-03 14:58:49.654] [console] [info] IP: 192.168.1.81 [device_discovery.cpp] [OnData] [103] [2022-03-03 14:58:49.654] [console] [info] Command Port: 55501 [device_discovery.cpp] [OnData] [104] [2022-03-03 14:58:49.654] [console] [info] Data Port: 56001 [device_discovery.cpp] [OnData] [105] [2022-03-03 14:58:49.654] [console] [info] Send Command: Set 0 Id 2 Seq 3 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:49.677] [console] [info] Recieve Ack: Set 0 Id 2 Seq 3 [command_handler.cpp] [OnCommand] [118] Lidar[1LVDG1F006E94F2] status_code[0] working state[5] feature[0] [2022-03-03 14:58:49.678] [console] [info] Send Command: Set 0 Id 2 Seq 4 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:49.701] [console] [info] Update State to 1, device connect true [device_manager.cpp] [UpdateDeviceState] [281] Lidar[1LVDG1F006E94F2] status_code[0] working state[1] feature[0] [2022-03-03 14:58:49.702] [console] [info] Recieve Ack: Set 0 Id 2 Seq 4 [command_handler.cpp] [OnCommand] [118] firmware version: 3.8.0.0 [2022-03-03 14:58:49.702] [console] [info] Send Command: Set 0 Id 5 Seq 6 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:49.725] [console] [info] Recieve Ack: Set 0 Id 5 Seq 6 [command_handler.cpp] [OnCommand] [118] Set coordinate success! [2022-03-03 14:58:49.726] [console] [info] Send Command: Set 0 Id 4 Seq 7 [command_channel.cpp] [Send] [243] Lidar[0][1LVDG1F006E94F2] DataType[0] timestamp_type[4] PacketInterval[1000000] PublishPackets[100] Lidar[0][1LVDG1F006E94F2] storage queue size : 200 256 [2022-03-03 14:58:49.750] [console] [info] Recieve Ack: Set 0 Id 4 Seq 7 [command_handler.cpp] [OnCommand] [118] Lidar start sample success [2022-03-03 14:58:49.767] [console] [info] Broadcast broadcast code: 1LVDG1F006E94F1 [device_discovery.cpp] [OnBroadcast] [150] [2022-03-03 14:58:49.767] [console] [info] LocalIP: 192.168.1.200 [device_discovery.cpp] [OnBroadcast] [201] [2022-03-03 14:58:49.767] [console] [info] DeviceIP: 192.168.1.78 [device_discovery.cpp] [OnBroadcast] [202] [2022-03-03 14:58:49.767] [console] [info] Command Port: 55502 [device_discovery.cpp] [OnBroadcast] [203] [2022-03-03 14:58:49.767] [console] [info] Data Port: 56002 [device_discovery.cpp] [OnBroadcast] [204] [2022-03-03 14:58:49.791] [console] [info] New Device [device_discovery.cpp] [OnData] [99] [2022-03-03 14:58:49.791] [console] [info] Handle: 1 [device_discovery.cpp] [OnData] [100] [2022-03-03 14:58:49.791] [console] [info] Broadcast Code: 1LVDG1F006E94F1 [device_discovery.cpp] [OnData] [101] [2022-03-03 14:58:49.791] [console] [info] Type: 1 [device_discovery.cpp] [OnData] [102] [2022-03-03 14:58:49.791] [console] [info] IP: 192.168.1.78 [device_discovery.cpp] [OnData] [103] [2022-03-03 14:58:49.791] [console] [info] Command Port: 55502 [device_discovery.cpp] [OnData] [104] [2022-03-03 14:58:49.791] [console] [info] Data Port: 56002 [device_discovery.cpp] [OnData] [105] [2022-03-03 14:58:49.791] [console] [info] Send Command: Set 0 Id 2 Seq 9 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:49.814] [console] [info] Recieve Ack: Set 0 Id 2 Seq 9 [command_handler.cpp] [OnCommand] [118] Lidar[1LVDG1F006E94F1] status_code[0] working state[5] feature[0] [2022-03-03 14:58:49.815] [console] [info] Send Command: Set 0 Id 2 Seq 10 [command_channel.cpp] [Send] [243] [ INFO] [1646341129.826606767]: Support only one topic. [ INFO] [1646341129.827782802]: livox/lidar publish use PointCloud2 format, set ROS publisher queue size 256 [DEBUG] [1646341129.827830892]: Trying to publish message of type [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181] on a publisher with type [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181] [2022-03-03 14:58:49.838] [console] [info] Update State to 1, device connect true [device_manager.cpp] [UpdateDeviceState] [281] Lidar[1LVDG1F006E94F1] status_code[0] working state[1] feature[0] [2022-03-03 14:58:49.839] [console] [info] Recieve Ack: Set 0 Id 2 Seq 10 [command_handler.cpp] [OnCommand] [118] firmware version: 3.8.0.0 [2022-03-03 14:58:49.839] [console] [info] Send Command: Set 0 Id 5 Seq 12 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:49.862] [console] [info] Recieve Ack: Set 0 Id 5 Seq 12 [command_handler.cpp] [OnCommand] [118] Set coordinate success! [2022-03-03 14:58:49.863] [console] [info] Send Command: Set 0 Id 4 Seq 13 [command_channel.cpp] [Send] [243] Lidar[1][1LVDG1F006E94F1] DataType[0] timestamp_type[4] PacketInterval[1000000] PublishPackets[100] Lidar[1][1LVDG1F006E94F1] storage queue size : 200 256 [2022-03-03 14:58:49.887] [console] [info] Recieve Ack: Set 0 Id 4 Seq 13 [command_handler.cpp] [OnCommand] [118] Lidar start sample success QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) [2022-03-03 14:58:50.487] [console] [info] Broadcast broadcast code: 1LVDG1F006E94F3 [device_discovery.cpp] [OnBroadcast] [150] [2022-03-03 14:58:50.487] [console] [info] LocalIP: 192.168.1.200 [device_discovery.cpp] [OnBroadcast] [201] [2022-03-03 14:58:50.487] [console] [info] DeviceIP: 192.168.1.151 [device_discovery.cpp] [OnBroadcast] [202] [2022-03-03 14:58:50.487] [console] [info] Command Port: 55503 [device_discovery.cpp] [OnBroadcast] [203] [2022-03-03 14:58:50.487] [console] [info] Data Port: 56003 [device_discovery.cpp] [OnBroadcast] [204] [2022-03-03 14:58:50.511] [console] [info] New Device [device_discovery.cpp] [OnData] [99] [2022-03-03 14:58:50.511] [console] [info] Handle: 2 [device_discovery.cpp] [OnData] [100] [2022-03-03 14:58:50.511] [console] [info] Broadcast Code: 1LVDG1F006E94F3 [device_discovery.cpp] [OnData] [101] [2022-03-03 14:58:50.511] [console] [info] Type: 1 [device_discovery.cpp] [OnData] [102] [2022-03-03 14:58:50.511] [console] [info] IP: 192.168.1.151 [device_discovery.cpp] [OnData] [103] [2022-03-03 14:58:50.511] [console] [info] Command Port: 55503 [device_discovery.cpp] [OnData] [104] [2022-03-03 14:58:50.511] [console] [info] Data Port: 56003 [device_discovery.cpp] [OnData] [105] [2022-03-03 14:58:50.512] [console] [info] Send Command: Set 0 Id 2 Seq 15 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:50.535] [console] [info] Recieve Ack: Set 0 Id 2 Seq 15 [command_handler.cpp] [OnCommand] [118] Lidar[1LVDG1F006E94F3] status_code[0] working state[5] feature[0] [2022-03-03 14:58:50.535] [console] [info] Send Command: Set 0 Id 2 Seq 17 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:50.559] [console] [info] Recieve Ack: Set 0 Id 2 Seq 17 [command_handler.cpp] [OnCommand] [118] firmware version: 3.8.0.0 [2022-03-03 14:58:50.631] [console] [info] Update State to 1, device connect true [device_manager.cpp] [UpdateDeviceState] [281] Lidar[1LVDG1F006E94F3] status_code[0] working state[1] feature[0] [2022-03-03 14:58:50.631] [console] [info] Send Command: Set 0 Id 5 Seq 19 [command_channel.cpp] [Send] [243] [2022-03-03 14:58:50.655] [console] [info] Recieve Ack: Set 0 Id 5 Seq 19 [command_handler.cpp] [OnCommand] [118] Set coordinate success! [2022-03-03 14:58:50.655] [console] [info] Send Command: Set 0 Id 4 Seq 20 [command_channel.cpp] [Send] [243] Lidar[2][1LVDG1F006E94F3] DataType[0] timestamp_type[4] PacketInterval[1000000] PublishPackets[100] Lidar[2][1LVDG1F006E94F3] storage queue size : 200 256 [2022-03-03 14:58:50.679] [console] [info] Recieve Ack: Set 0 Id 4 Seq 20 [command_handler.cpp] [OnCommand] [118] Lidar start sample success [ INFO] [1646341130.746118575]: lidar time error [ INFO] [1646341130.757423145]: lidar time error [ INFO] [1646341130.845873293]: lidar time error [ INFO] [1646341130.858127104]: lidar time error [ INFO] [1646341130.946006016]: lidar time error [ INFO] [1646341131.046052235]: lidar time error [ INFO] [1646341131.145953805]: lidar time error [ INFO] [1646341131.217807930]: lidar time error [ INFO] [1646341131.317673388]: lidar time error [ INFO] [1646341131.416870814]: lidar time error [ INFO] [1646341131.516903146]: lidar time error [ INFO] [1646341131.545988876]: lidar time error [ INFO] [1646341131.616861653]: lidar time error [ INFO] [1646341131.644794008]: lidar time error [ INFO] [1646341131.717835932]: lidar time error [ INFO] [1646341131.744853661]: lidar time error [ INFO] [1646341131.817780036]: lidar time error [ INFO] [1646341131.845093100]: lidar time error [ INFO] [1646341131.945003815]: lidar time error [ INFO] [1646341132.045502833]: lidar time error [ INFO] [1646341132.145414148]: lidar time error [ INFO] [1646341132.244895458]: lidar time error [ INFO] [1646341132.344956981]: lidar time error [ INFO] [1646341132.417849879]: lidar time error [ INFO] [1646341132.444901013]: lidar time error [ INFO] [1646341132.516902110]: lidar time error [ INFO] [1646341132.545841440]: lidar time error [ INFO] [1646341132.617236934]: lidar time error [ INFO] [1646341132.645859523]: lidar time error [ INFO] [1646341133.645989504]: lidar time error [ INFO] [1646341133.717797170]: lidar time error [ INFO] [1646341133.745239013]: lidar time error [ INFO] [1646341133.816897733]: lidar time error [ INFO] [1646341133.844838364]: lidar time error [ INFO] [1646341133.916855791]: lidar time error [ INFO] [1646341133.944888916]: lidar time error [ INFO] [1646341134.016885104]: lidar time error [ INFO] [1646341134.044855308]: lidar time error [ INFO] [1646341134.116824828]: lidar time error [ INFO] [1646341134.144757157]: lidar time error [ INFO] [1646341134.216938019]: lidar time error [ INFO] [1646341134.244902089]: lidar time error [ INFO] [1646341134.317799081]: lidar time error [ INFO] [1646341134.344857705]: lidar time error [ INFO] [1646341134.417761007]: lidar time error [ INFO] [1646341134.444834893]: lidar time error [ INFO] [1646341134.517819082]: lidar time error [ INFO] [1646341134.545788561]: lidar time error [ INFO] [1646341134.645887076]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341134.745946112]: lidar time error [ INFO] [1646341134.845887342]: lidar time error [ INFO] [1646341135.016875837]: lidar time error [ INFO] [1646341135.116890027]: lidar time error [ INFO] [1646341135.217044862]: lidar time error [ INFO] [1646341135.316895616]: lidar time error [ INFO] [1646341135.416945126]: lidar time error [ INFO] [1646341135.517948690]: lidar time error [ INFO] [1646341135.745947832]: lidar time error [ INFO] [1646341135.844905078]: lidar time error [ INFO] [1646341135.944978902]: lidar time error [ INFO] [1646341136.045163831]: lidar time error [ INFO] [1646341136.144969615]: lidar time error [ INFO] [1646341136.217914398]: lidar time error [ INFO] [1646341136.245208579]: lidar time error [ INFO] [1646341136.316838691]: lidar time error [ INFO] [1646341136.345767047]: lidar time error [ INFO] [1646341136.845942037]: lidar time error [ INFO] [1646341136.945873658]: lidar time error [ INFO] [1646341137.045972386]: lidar time error [ INFO] [1646341137.145875441]: lidar time error [ INFO] [1646341137.247077410]: lidar time error [ INFO] [1646341137.351669555]: lidar time error [ INFO] [1646341137.417896804]: lidar time error [ INFO] [1646341137.516985501]: lidar time error [ INFO] [1646341137.617224064]: lidar time error [ INFO] [1646341137.716964410]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341137.816949688]: lidar time error [ INFO] [1646341137.845785201]: lidar time error [ INFO] [1646341137.917094516]: lidar time error [ INFO] [1646341137.945131945]: lidar time error [ INFO] [1646341138.017761742]: lidar time error [ INFO] [1646341138.045283978]: lidar time error [ INFO] [1646341138.117834840]: lidar time error [ INFO] [1646341138.144895812]: lidar time error [ INFO] [1646341138.217810271]: lidar time error [ INFO] [1646341138.245085678]: lidar time error [ INFO] [1646341138.317862958]: lidar time error [ INFO] [1646341138.344883459]: lidar time error [ INFO] [1646341138.444925618]: lidar time error [ INFO] [1646341138.545269819]: lidar time error [ INFO] [1646341138.644959218]: lidar time error [ INFO] [1646341138.717891109]: lidar time error [ INFO] [1646341138.816884752]: lidar time error [ INFO] [1646341138.916852581]: lidar time error [ INFO] [1646341139.016942666]: lidar time error [ INFO] [1646341139.116901799]: lidar time error [ INFO] [1646341139.216941533]: lidar time error [ INFO] [1646341139.945875538]: lidar time error [ INFO] [1646341140.017830686]: lidar time error [ INFO] [1646341140.044709818]: lidar time error [ INFO] [1646341140.116933856]: lidar time error [ INFO] [1646341140.144761846]: lidar time error [ INFO] [1646341140.217312614]: lidar time error [ INFO] [1646341140.245230152]: lidar time error [ INFO] [1646341140.344826074]: lidar time error [ INFO] [1646341140.444857868]: lidar time error [ INFO] [1646341140.544844223]: lidar time error [ INFO] [1646341140.644857022]: lidar time error [ INFO] [1646341140.745837990]: lidar time error [ INFO] [1646341140.845934690]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341140.946016212]: lidar time error [ INFO] [1646341141.045855643]: lidar time error [ INFO] [1646341141.145858257]: lidar time error [ INFO] [1646341141.218776364]: lidar time error [ INFO] [1646341141.317371551]: lidar time error [ INFO] [1646341141.416892346]: lidar time error [ INFO] [1646341141.516963775]: lidar time error [ INFO] [1646341141.617015814]: lidar time error [ INFO] [1646341141.716995149]: lidar time error [ INFO] [1646341141.816914314]: lidar time error [ INFO] [1646341141.917836705]: lidar time error [ INFO] [1646341141.945781181]: lidar time error [ INFO] [1646341142.018285706]: lidar time error [ INFO] [1646341142.044898647]: lidar time error [ INFO] [1646341142.118325693]: lidar time error [ INFO] [1646341142.144813864]: lidar time error [ INFO] [1646341142.244900987]: lidar time error [ INFO] [1646341142.344982015]: lidar time error [ INFO] [1646341142.444885119]: lidar time error [ INFO] [1646341142.616843594]: lidar time error [ INFO] [1646341142.716884075]: lidar time error [ INFO] [1646341142.817155322]: lidar time error [ INFO] [1646341143.345844967]: lidar time error [ INFO] [1646341143.446542952]: lidar time error [ INFO] [1646341143.546429421]: lidar time error [ INFO] [1646341143.645781538]: lidar time error [ INFO] [1646341143.717867037]: lidar time error [ INFO] [1646341143.816905927]: lidar time error [ INFO] [1646341143.916860408]: lidar time error [ INFO] [1646341143.945706814]: lidar time error Uart is disconnected, close it [ INFO] [1646341144.017018963]: lidar time error [ INFO] [1646341144.044966439]: lidar time error Open /dev/RS232_to_USB success! [ INFO] [1646341144.144880121]: lidar time error [ INFO] [1646341144.245236198]: lidar time error [ INFO] [1646341144.344805334]: lidar time error [ INFO] [1646341144.444888809]: lidar time error [ INFO] [1646341144.544928085]: lidar time error [ INFO] [1646341144.644880506]: lidar time error [ INFO] [1646341144.744892329]: lidar time error [ INFO] [1646341144.845875595]: lidar time error [ INFO] [1646341144.945773627]: lidar time error [ INFO] [1646341145.017851617]: lidar time error [ INFO] [1646341145.116863853]: lidar time error [ INFO] [1646341145.216864795]: lidar time error [ INFO] [1646341145.316864637]: lidar time error [ INFO] [1646341145.417144324]: lidar time error [ INFO] [1646341145.517530996]: lidar time error [ INFO] [1646341145.619509061]: lidar time error [ INFO] [1646341145.717768699]: lidar time error [ INFO] [1646341145.817818416]: lidar time error [ INFO] [1646341145.917815666]: lidar time error [ INFO] [1646341146.017831069]: lidar time error [ INFO] [1646341146.045905457]: lidar time error [ INFO] [1646341146.144936760]: lidar time error [ INFO] [1646341146.244899945]: lidar time error [ INFO] [1646341146.344785919]: lidar time error [ INFO] [1646341146.417633824]: lidar time error [ INFO] [1646341146.518672607]: lidar time error [ INFO] [1646341146.616923474]: lidar time error [ INFO] [1646341146.745262802]: lidar time error [ INFO] [1646341146.845312355]: lidar time error [ INFO] [1646341146.946462745]: lidar time error [ INFO] [1646341147.045830400]: lidar time error Uart is disconnected, close it [ INFO] [1646341147.145886330]: lidar time error Open /dev/RS232_to_USB success! [ INFO] [1646341147.245819757]: lidar time error [ INFO] [1646341147.345798914]: lidar time error [ INFO] [1646341147.445978353]: lidar time error [ INFO] [1646341147.517887097]: lidar time error [ INFO] [1646341147.545804489]: lidar time error [ INFO] [1646341147.616868128]: lidar time error [ INFO] [1646341147.645711248]: lidar time error [ INFO] [1646341147.717248373]: lidar time error [ INFO] [1646341147.745683126]: lidar time error [ INFO] [1646341147.816865840]: lidar time error [ INFO] [1646341147.845720758]: lidar time error [ INFO] [1646341147.917650859]: lidar time error [ INFO] [1646341147.945803786]: lidar time error [ INFO] [1646341148.145996156]: lidar time error [ INFO] [1646341148.245719509]: lidar time error [ INFO] [1646341148.344783370]: lidar time error [ INFO] [1646341148.444910179]: lidar time error [ INFO] [1646341148.544829946]: lidar time error [ INFO] [1646341148.644987621]: lidar time error [ INFO] [1646341148.745186794]: lidar time error [ INFO] [1646341148.817858633]: lidar time error [ INFO] [1646341148.845848703]: lidar time error [ INFO] [1646341148.916976154]: lidar time error [ INFO] [1646341148.945687310]: lidar time error [ INFO] [1646341149.018387854]: lidar time error [ INFO] [1646341149.045827915]: lidar time error [ INFO] [1646341149.117289845]: lidar time error [ INFO] [1646341149.145788216]: lidar time error [ INFO] [1646341149.216918767]: lidar time error [ INFO] [1646341149.245755962]: lidar time error [ INFO] [1646341149.316883187]: lidar time error [ INFO] [1646341149.345769302]: lidar time error [ INFO] [1646341149.416988033]: lidar time error [ INFO] [1646341149.445897589]: lidar time error [ INFO] [1646341149.517080030]: lidar time error [ INFO] [1646341149.545813962]: lidar time error [ INFO] [1646341149.618408977]: lidar time error [ INFO] [1646341149.645704097]: lidar time error [ INFO] [1646341149.717872148]: lidar time error [ INFO] [1646341149.745805314]: lidar time error [ INFO] [1646341149.817961249]: lidar time error [ INFO] [1646341149.845809607]: lidar time error [ INFO] [1646341150.116995664]: lidar time error [ INFO] [1646341150.217002776]: lidar time error Uart is disconnected, close it [ INFO] [1646341150.244801103]: lidar time error Open /dev/RS232_to_USB success! [ INFO] [1646341150.348323647]: lidar time error [ INFO] [1646341150.444967798]: lidar time error [ INFO] [1646341150.544917670]: lidar time error [ INFO] [1646341150.644835458]: lidar time error [ INFO] [1646341150.744899147]: lidar time error [ INFO] [1646341150.844984968]: lidar time error [ INFO] [1646341150.944946985]: lidar time error [ INFO] [1646341151.045974130]: lidar time error [ INFO] [1646341151.147827408]: lidar time error [ INFO] [1646341151.245942906]: lidar time error [ INFO] [1646341151.317865939]: lidar time error [ INFO] [1646341151.346171764]: lidar time error [ INFO] [1646341151.416839983]: lidar time error [ INFO] [1646341151.445758598]: lidar time error [ INFO] [1646341151.517087041]: lidar time error [ INFO] [1646341151.545724176]: lidar time error [ INFO] [1646341151.616998583]: lidar time error [ INFO] [1646341151.645705015]: lidar time error [ INFO] [1646341151.717358255]: lidar time error [ INFO] [1646341151.745812830]: lidar time error [ INFO] [1646341152.245869455]: lidar time error [ INFO] [1646341152.344878518]: lidar time error [ INFO] [1646341152.444950253]: lidar time error [ INFO] [1646341152.517954949]: lidar time error [ INFO] [1646341152.544835614]: lidar time error [ INFO] [1646341152.617190047]: lidar time error [ INFO] [1646341152.644722768]: lidar time error [ INFO] [1646341152.717056428]: lidar time error [ INFO] [1646341152.744782478]: lidar time error [ INFO] [1646341152.816973434]: lidar time error [ INFO] [1646341152.844788838]: lidar time error [ INFO] [1646341152.916920217]: lidar time error [ INFO] [1646341152.944801504]: lidar time error [ INFO] [1646341153.016958030]: lidar time error [ INFO] [1646341153.046780160]: lidar time error [ INFO] [1646341153.116950514]: lidar time error [ INFO] [1646341153.147474778]: lidar time error [ INFO] [1646341153.216945574]: lidar time error [ INFO] [1646341153.245711167]: lidar time error [ INFO] [1646341153.317861842]: lidar time error [ INFO] [1646341153.345710143]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341153.417896164]: lidar time error [ INFO] [1646341153.445752774]: lidar time error [ INFO] [1646341153.517918545]: lidar time error [ INFO] [1646341153.545788146]: lidar time error [ INFO] [1646341153.617865860]: lidar time error [ INFO] [1646341153.645763583]: lidar time error [ INFO] [1646341153.745821116]: lidar time error [ INFO] [1646341153.916904933]: lidar time error [ INFO] [1646341154.345929190]: lidar time error [ INFO] [1646341154.444807965]: lidar time error [ INFO] [1646341154.544898540]: lidar time error [ INFO] [1646341154.644840996]: lidar time error [ INFO] [1646341154.744894375]: lidar time error [ INFO] [1646341154.844827312]: lidar time error [ INFO] [1646341154.944998464]: lidar time error [ INFO] [1646341155.044913144]: lidar time error [ INFO] [1646341155.117854814]: lidar time error [ INFO] [1646341155.145931886]: lidar time error [ INFO] [1646341155.216873236]: lidar time error [ INFO] [1646341155.246318023]: lidar time error [ INFO] [1646341155.316847018]: lidar time error [ INFO] [1646341155.345710125]: lidar time error [ INFO] [1646341155.416965248]: lidar time error [ INFO] [1646341155.445796247]: lidar time error [ INFO] [1646341155.517048198]: lidar time error [ INFO] [1646341155.545763045]: lidar time error [ INFO] [1646341155.617630925]: lidar time error [ INFO] [1646341155.645804475]: lidar time error [ INFO] [1646341156.345854149]: lidar time error [ INFO] [1646341156.418851573]: lidar time error [ INFO] [1646341156.444692296]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341156.516982407]: lidar time error [ INFO] [1646341156.544852613]: lidar time error [ INFO] [1646341156.616954666]: lidar time error [ INFO] [1646341156.644763990]: lidar time error [ INFO] [1646341156.716996273]: lidar time error [ INFO] [1646341156.744819004]: lidar time error [ INFO] [1646341156.816909065]: lidar time error [ INFO] [1646341156.844992314]: lidar time error [ INFO] [1646341156.916911804]: lidar time error [ INFO] [1646341156.944771446]: lidar time error [ INFO] [1646341157.016967773]: lidar time error [ INFO] [1646341157.044816955]: lidar time error [ INFO] [1646341157.117122971]: lidar time error [ INFO] [1646341157.145729215]: lidar time error [ INFO] [1646341157.217971977]: lidar time error [ INFO] [1646341157.245769124]: lidar time error [ INFO] [1646341157.317819460]: lidar time error [ INFO] [1646341157.345631326]: lidar time error [ INFO] [1646341157.417826699]: lidar time error [ INFO] [1646341157.445686180]: lidar time error [ INFO] [1646341157.546510300]: lidar time error [ INFO] [1646341158.445828771]: lidar time error [ INFO] [1646341158.544849986]: lidar time error [ INFO] [1646341158.644767026]: lidar time error [ INFO] [1646341158.744723234]: lidar time error [ INFO] [1646341158.863924624]: lidar time error [ INFO] [1646341158.917818726]: lidar time error [ INFO] [1646341158.944653899]: lidar time error [ INFO] [1646341159.017024310]: lidar time error [ INFO] [1646341159.045324094]: lidar time error [ INFO] [1646341159.117143053]: lidar time error [ INFO] [1646341159.144746682]: lidar time error [ INFO] [1646341159.217254883]: lidar time error [ INFO] [1646341159.245653282]: lidar time error [ INFO] [1646341159.316873167]: lidar time error [ INFO] [1646341159.368486451]: lidar time error [ INFO] [1646341159.416864844]: lidar time error [ INFO] [1646341159.445715435]: lidar time error [ INFO] [1646341159.545821950]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341159.645704890]: lidar time error [ INFO] [1646341159.745751899]: lidar time error [ INFO] [1646341159.849222900]: lidar time error [ INFO] [1646341159.945780161]: lidar time error [ INFO] [1646341160.045818684]: lidar time error [ INFO] [1646341160.117977145]: lidar time error [ INFO] [1646341160.216983237]: lidar time error [ INFO] [1646341160.328779566]: lidar time error [ INFO] [1646341160.417537760]: lidar time error [ INFO] [1646341160.516982970]: lidar time error [ INFO] [1646341160.545795081]: lidar time error [ INFO] [1646341160.617310024]: lidar time error [ INFO] [1646341160.644752067]: lidar time error [ INFO] [1646341160.716919100]: lidar time error [ INFO] [1646341160.744881392]: lidar time error [ INFO] [1646341160.816945488]: lidar time error [ INFO] [1646341160.845129863]: lidar time error [ INFO] [1646341160.917012158]: lidar time error [ INFO] [1646341160.944711389]: lidar time error [ INFO] [1646341161.017959641]: lidar time error [ INFO] [1646341161.044727279]: lidar time error [ INFO] [1646341161.118414424]: lidar time error [ INFO] [1646341161.144770875]: lidar time error [ INFO] [1646341161.218222077]: lidar time error [ INFO] [1646341161.244800361]: lidar time error [ INFO] [1646341161.317835168]: lidar time error [ INFO] [1646341161.345741987]: lidar time error [ INFO] [1646341161.416935875]: lidar time error [ INFO] [1646341162.617812819]: lidar time error [ INFO] [1646341162.645644680]: lidar time error Uart is disconnected, close it [ INFO] [1646341162.731885188]: lidar time error [ INFO] [1646341162.744734870]: lidar time error Open /dev/RS232_to_USB success! [ INFO] [1646341162.816846123]: lidar time error [ INFO] [1646341162.863737114]: lidar time error [ INFO] [1646341162.916860605]: lidar time error [ INFO] [1646341162.945280140]: lidar time error [ INFO] [1646341163.044736078]: lidar time error [ INFO] [1646341163.117454124]: lidar time error [ INFO] [1646341163.144815290]: lidar time error [ INFO] [1646341163.216990884]: lidar time error [ INFO] [1646341163.244714831]: lidar time error [ INFO] [1646341163.345719803]: lidar time error [ INFO] [1646341163.445739775]: lidar time error [ INFO] [1646341163.545811365]: lidar time error [ INFO] [1646341163.660675507]: lidar time error [ INFO] [1646341163.745855574]: lidar time error [ INFO] [1646341163.822495341]: lidar time error [ INFO] [1646341163.845569308]: lidar time error [ INFO] [1646341163.917839893]: lidar time error [ INFO] [1646341164.016891166]: lidar time error [ INFO] [1646341164.144176902]: lidar time error [ INFO] [1646341164.216911721]: lidar time error [ INFO] [1646341164.316902550]: lidar time error [ INFO] [1646341164.417469371]: lidar time error [ INFO] [1646341164.516898808]: lidar time error [ INFO] [1646341164.645879882]: lidar time error [ INFO] [1646341164.716945891]: lidar time error [ INFO] [1646341164.744690186]: lidar time error [ INFO] [1646341164.817829644]: lidar time error [ INFO] [1646341164.844681786]: lidar time error [ INFO] [1646341164.942397110]: lidar time error [ INFO] [1646341164.945653447]: lidar time error [ INFO] [1646341165.044756879]: lidar time error [ INFO] [1646341165.144704815]: lidar time error [ INFO] [1646341165.221935511]: lidar time error [ INFO] [1646341165.263278824]: lidar time error [ INFO] [1646341165.316988550]: lidar time error [ INFO] [1646341165.424287127]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341166.064024934]: lidar time error [ INFO] [1646341166.145758553]: lidar time error [ INFO] [1646341166.223735286]: lidar time error [ INFO] [1646341166.245591098]: lidar time error [ INFO] [1646341166.347159263]: lidar time error [ INFO] [1646341166.417845868]: lidar time error [ INFO] [1646341166.540760474]: lidar time error [ INFO] [1646341166.616778345]: lidar time error [ INFO] [1646341166.725969426]: lidar time error [ INFO] [1646341166.745642580]: lidar time error [ INFO] [1646341166.816817692]: lidar time error [ INFO] [1646341166.863714573]: lidar time error [ INFO] [1646341166.927985813]: lidar time error [ INFO] [1646341166.944647450]: lidar time error [ INFO] [1646341167.024257988]: lidar time error [ INFO] [1646341167.044735813]: lidar time error [ INFO] [1646341167.145285682]: lidar time error [ INFO] [1646341167.244762614]: lidar time error [ INFO] [1646341167.344788429]: lidar time error [ INFO] [1646341167.444767824]: lidar time error [ INFO] [1646341167.545728948]: lidar time error [ INFO] [1646341167.645720973]: lidar time error [ INFO] [1646341167.717776500]: lidar time error [ INFO] [1646341167.819702278]: lidar time error [ INFO] [1646341167.916767587]: lidar time error [ INFO] [1646341168.016785368]: lidar time error [ INFO] [1646341168.117140842]: lidar time error [ INFO] [1646341168.216841270]: lidar time error [ INFO] [1646341168.317090316]: lidar time error [ INFO] [1646341168.416891268]: lidar time error [ INFO] [1646341168.517112323]: lidar time error [ INFO] [1646341168.748495747]: lidar time error [ INFO] [1646341168.845990011]: lidar time error [ INFO] [1646341168.940346005]: lidar time error [ INFO] [1646341168.944714114]: lidar time error [ INFO] [1646341169.038624334]: lidar time error Uart is disconnected, close it [ INFO] [1646341169.044678964]: lidar time error Open /dev/RS232_to_USB success! [ INFO] [1646341169.136720141]: lidar time error [ INFO] [1646341169.325247168]: lidar time error [ INFO] [1646341169.344727131]: lidar time error [ INFO] [1646341169.445132221]: lidar time error [ INFO] [1646341169.545960219]: lidar time error [ INFO] [1646341169.645767834]: lidar time error [ INFO] [1646341169.745839160]: lidar time error [ INFO] [1646341169.848126080]: lidar time error [ INFO] [1646341169.945912000]: lidar time error [ INFO] [1646341170.045830137]: lidar time error [ INFO] [1646341170.145642484]: lidar time error [ INFO] [1646341170.217781549]: lidar time error [ INFO] [1646341170.316801825]: lidar time error [ INFO] [1646341170.417011146]: lidar time error [ INFO] [1646341170.516907530]: lidar time error [ INFO] [1646341170.616813009]: lidar time error [ INFO] [1646341170.716808107]: lidar time error [ INFO] [1646341170.839368100]: lidar time error [ INFO] [1646341170.845692918]: lidar time error [ INFO] [1646341170.941298186]: lidar time error [ INFO] [1646341170.944930618]: lidar time error [ INFO] [1646341171.044817347]: lidar time error [ INFO] [1646341171.148454581]: lidar time error [ INFO] [1646341171.253203627]: lidar time error [ INFO] [1646341171.359486488]: lidar time error [ INFO] [1646341171.417785647]: lidar time error [ INFO] [1646341171.517192934]: lidar time error [ INFO] [1646341171.618193079]: lidar time error [ INFO] [1646341171.721599140]: lidar time error [ INFO] [1646341171.929074407]: lidar time error [ INFO] [1646341172.032602327]: lidar time error [ INFO] [1646341172.136801938]: lidar time error Uart is disconnected, close it Open /dev/RS232_to_USB success! [ INFO] [1646341172.242324019]: lidar time error [ INFO] [1646341172.317048514]: lidar time error [ INFO] [1646341172.554902414]: lidar time error [ INFO] [1646341172.657428550]: lidar time error [ INFO] [1646341172.717993495]: lidar time error [ INFO] [1646341172.816734082]: lidar time error [ INFO] [1646341173.021184090]: lidar time error [ INFO] [1646341173.044669204]: lidar time error [ INFO] [1646341173.125552201]: lidar time error [ INFO] [1646341173.144614634]: lidar time error [ INFO] [1646341173.246941142]: lidar time error [ INFO] [1646341173.344708628]: lidar time error [ INFO] [1646341173.444606974]: lidar time error [ INFO] [1646341173.544867098]: lidar time error [ INFO] [1646341173.645583187]: lidar time error [ INFO] [1646341173.752368751]: lidar time error [ INFO] [1646341173.853637725]: lidar time error ^C[rviz2-5] killing on exit [livox_mapping_case-4] killing on exit [apx15_gsof_driver-3] killing on exit [rviz-2] killing on exit [livox_lidar_publisher-1] killing on exit livox ros driver will exit [livox_lidar_publisher-1] escalating to SIGTERM shutting down processing monitor... ... shutting down processing monitor complete done
cojeffj commented 2 years ago

I've solved this issue. There were a few things wrong:

  1. I did not add the user that ROS is running under to the dialout group. This is necessary for ROS to have permission to access the /dev/ttyUSBx devices.
  2. ROS doesn't seem to cooperate with device symlinks specified as udev rules. I originally set up udev rules to be able to easily differentiate between the rs232 to usb and TTL to usb devices.
  3. Make sure that "legacy talker ID" is unchecked in the APX-15 settings for COM1. When the messages start with "GPRMC" rather than "GNRMC" I don't think the APX driver is able to parse the messages.

Now that these are resolved, I'm getting normal messages: Screenshot from 2022-03-04 12-42-53

And after a small test, I'm able to get an adjusted point cloud based on IMU pose. Screenshot from 2022-03-04 12-43-54

supercrazysam commented 10 months ago

Hi @cojeffj

I am trying to setup GPS sync for livox lidar as well. I supplied PPS pulse and sent GPRMC, the lidar timestamp_type becomes 4 (only PPS) and stuck there. It never gets to timestamp_type 3 (GPS) as described in the livox timesync manual.

Have you encountered this situation? May I ask how did you setup your system to finally get timestamp_type to 3?