Restarting the node several times starts causing persistent protocol error

[sarguez]

Hello,

When I kill and restart the node several times, I start getting this after the third one:

[/r2000_node  INFO 1698241970.008605855]: Device found: R2000
protocol error: 120 New connection would exceed limit on number of connections(3>=3)
[/r2000_node ERROR 1698241970.015934572]: Could not acquire communication handle
[/r2000_node ERROR 1698241970.015972343]: Unable to initialize device

This problem persists until I powercycle the scanner itself.

I suspect that there may be some connection left to the laser that is not cleaned up upon killing the node.

[hsd-dev]

Thanks for reporting the issue. Which ROS distro and which branch did you test the driver with?

[sarguez]

Hello, I tested with ROS noetic, on tag: 1.2.1

[hsd-dev]

The connection handle is being released here actually:

https://github.com/PepperlFuchs/pf_lidar_ros_driver/blob/df8047e2b4f075032a42fa07074d09e13a9e089c/src/pf_driver/src/pf/pf_interface.cpp#L155

which gets called after terminating the node

https://github.com/PepperlFuchs/pf_lidar_ros_driver/blob/df8047e2b4f075032a42fa07074d09e13a9e089c/src/pf_driver/src/ros/ros_main.cpp#L105

I will test this tomorrow morning.

[ptruka]

Hi @sarguez I just tried to recreate your problem

• ROS1 noetic
• latest driver from github
• Sensor: R2300. They should behave identical, but I will also retry it with the R2000

1. Driver is running.
2. Node is killed with CTRL+C and started again immediately via roslaunch
3. Driver is running again. I repeated those steps 10x and found no issue.

Edit: Test with R2000 --> I can reproduce your issue, we are working on a fix. Thanks for reporting!

[hsd-dev]

@sarguez fixed in https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/120. Could you please confirm?

[sarguez]

@ipa-hsd Hello, thanks for the quick fix. I tested it now as well, it works.

[hsd-dev]

Actually the "fix" has caused an issue with the reconnect feature. I am working on it. Once that feature is restored, I will close the issue.

[hsd-dev]

The reconnect feature is stored.