Colcon build error in ROS2 galactic desktop docker environment

TZECHIN6 commented 1 year ago

Hi, in short the error message is indicating that there are a missing file rslidar_msg/msg/rslidar_scan.hpp. Any one has idea how to solve this?

The folder structure should be correct

.
├── build-workspace-general.sh
└── src
    ├── rslidar_msg
    └── rslidar_sdk

Error message

Starting >>> rslidar_msg
Finished <<< rslidar_msg [4.85s]                     
Starting >>> rslidar_sdk
--- stderr: rslidar_sdk                             
=============================================================
-- ROS Not Found, Ros Support is turned Off!
=============================================================
=============================================================
-- ROS2 Found, Ros2 Support is turned On!
=============================================================
=============================================================
-- Protobuf Found, Protobuf Support is turned On!
=============================================================
=============================================================
-- Cmake run for UNIX GNU Compiler
=============================================================
=============================================================
-- rs_driver Version : v1.3.2
=============================================================
=============================================================
-- POINT_TYPE is XYZI
=============================================================
In file included from /usr/include/string.h:495,
                 from /usr/include/google/protobuf/stubs/port.h:38,
                 from /usr/include/google/protobuf/stubs/common.h:46,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.h:9,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:4:
In function ‘void* memset(void*, int, size_t)’,
    inlined from ‘void proto_msg::LidarPointCloud::SharedCtor()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:164:11,
    inlined from ‘proto_msg::LidarPointCloud::LidarPointCloud()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:143:13,
    inlined from ‘void protobuf_point_5fcloud_2eproto::InitDefaultsLidarPointCloud()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:139:1:
/usr/include/x86_64-linux-gnu/bits/string_fortified.h:71:33: warning: ‘void* __builtin_memset(void*, int, long unsigned int)’ offset [57, 69] from the object at ‘proto_msg::_LidarPointCloud_default_instance_’ is out of the bounds of referenced subobject ‘proto_msg::LidarPointCloud::timestamp_’ with type ‘double’ at offset 48 [-Warray-bounds]
   71 |   return __builtin___memset_chk (__dest, __ch, __len, __bos0 (__dest));
      |          ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/string.h:495,
                 from /usr/include/google/protobuf/stubs/port.h:38,
                 from /usr/include/google/protobuf/stubs/common.h:46,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.h:9,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:4:
In function ‘void* memset(void*, int, size_t)’,
    inlined from ‘void proto_msg::LidarScan::SharedCtor()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:145:11,
    inlined from ‘proto_msg::LidarScan::LidarScan()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:129:13,
    inlined from ‘void protobuf_scan_2eproto::InitDefaultsLidarScan()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:125:1:
/usr/include/x86_64-linux-gnu/bits/string_fortified.h:71:33: warning: ‘void* __builtin_memset(void*, int, long unsigned int)’ offset [57, 60] from the object at ‘proto_msg::_LidarScan_default_instance_’ is out of the bounds of referenced subobject ‘proto_msg::LidarScan::timestamp_’ with type ‘double’ at offset 48 [-Warray-bounds]
   71 |   return __builtin___memset_chk (__dest, __ch, __len, __bos0 (__dest));
      |          ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /robosense_ws/src/rslidar_sdk/src/adapter/packet_ros_adapter.hpp:139,
                 from /robosense_ws/src/rslidar_sdk/src/manager/adapter_manager.h:75,
                 from /robosense_ws/src/rslidar_sdk/node/rslidar_sdk_node.cpp:34:
/robosense_ws/src/rslidar_sdk/src/msg/ros_msg_translator.h:144:10: fatal error: rslidar_msg/msg/rslidar_scan.hpp: No such file or directory
  144 | #include "rslidar_msg/msg/rslidar_scan.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /robosense_ws/src/rslidar_sdk/src/adapter/packet_ros_adapter.hpp:139,
                 from /robosense_ws/src/rslidar_sdk/src/manager/adapter_manager.h:75,
                 from /robosense_ws/src/rslidar_sdk/src/manager/adapter_manager.cpp:33:
/robosense_ws/src/rslidar_sdk/src/msg/ros_msg_translator.h:144:10: fatal error: rslidar_msg/msg/rslidar_scan.hpp: No such file or directory
  144 | #include "rslidar_msg/msg/rslidar_scan.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
compilation terminated.
make[2]: *** [CMakeFiles/rslidar_sdk_node.dir/build.make:63: CMakeFiles/rslidar_sdk_node.dir/node/rslidar_sdk_node.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/rslidar_sdk_node.dir/build.make:76: CMakeFiles/rslidar_sdk_node.dir/src/manager/adapter_manager.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:98: CMakeFiles/rslidar_sdk_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< rslidar_sdk [4.21s, exited with code 2]

Summary: 1 package finished [9.23s]
  1 package failed: rslidar_sdk
  1 package had stderr output: rslidar_sdk
Completed building the worksapce.

TZECHIN6 commented 1 year ago

Even in the official repos https://github.com/RoboSense-LiDAR/rslidar_msg There is no file called rslidar_scan.hpp under msg directory....

So is that a bug? Do/Should i have to delete this line to make thing works?

enginbaglayici commented 1 year ago

I am having the same issue.. Looks like the msg definition is not complete. Have you found a workaround? @TZECHIN6

Edit: I found the missing msg definition in the dev branch of https://github.com/RoboSense-LiDAR/rslidar_msg, now it works @TZECHIN6

TZECHIN6 commented 1 year ago

@enginbaglayici how can you find it, amazing! I will reinstall it on monday.

I will keep this be opened for a while, and see whether the developer will answer it

TZECHIN6 commented 1 year ago

@enginbaglayici I am still facing the same error, would you please explain more about that? do you copy those lines into the RslidarPacket.msg? instead of adding the miss .msg file?

TZECHIN6 commented 1 year ago

I have added the new line RslidarPacket[] packets into the RslidarPacket.msg .msg file. The missing error is now gone.

Here is the workspace folder structure:

The workspace folder structure is like this:
robosense_ws/src
|--rslidar_sdk
|--rslidar_msg
`--build-script.sh

build-script.sh

#!/bin/bash

# Install dependences using rosdep
apt-get update && \
rosdep update && \
source /opt/ros/galactic/setup.bash && \
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO && \
rm -rf /var/lib/apt/lists/* && \
apt-get clean
echo -e "Installed ROS dependencies via rosdep.\n"

# Build it
colcon build --symlink-install

However now issue come up:

Starting >>> rslidar_msg
--- stderr: rslidar_msg                             
In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:19,
                 from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__struct.h:35:3: error: unknown type name ‘rslidar_msg__msg__RslidarPacket__Sequence’
   35 |   rslidar_msg__msg__RslidarPacket__Sequence packets;
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c: In function ‘rslidar_msg__msg__RslidarPacket__init’:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:40:56: warning: passing argument 1 of ‘rslidar_msg__msg__RslidarPacket__Sequence__init’ from incompatible pointer type [-Wincompatible-pointer-types]
   40 |   if (!rslidar_msg__msg__RslidarPacket__Sequence__init(&msg->packets, 0)) {
      |                                                        ^~~~~~~~~~~~~
      |                                                        |
      |                                                        int *
In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:109:93: note: expected ‘rslidar_msg__msg__RslidarPacket__Sequence *’ {aka ‘struct rslidar_msg__msg__RslidarPacket__Sequence *’} but argument is of type ‘int *’
  109 | rslidar_msg__msg__RslidarPacket__Sequence__init(rslidar_msg__msg__RslidarPacket__Sequence * array, size_t size);
      |                                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c: In function ‘rslidar_msg__msg__RslidarPacket__fini’:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:60:51: warning: passing argument 1 of ‘rslidar_msg__msg__RslidarPacket__Sequence__fini’ from incompatible pointer type [-Wincompatible-pointer-types]
   60 |   rslidar_msg__msg__RslidarPacket__Sequence__fini(&msg->packets);
      |                                                   ^~~~~~~~~~~~~
      |                                                   |
      |                                                   int *
In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:121:93: note: expected ‘rslidar_msg__msg__RslidarPacket__Sequence *’ {aka ‘struct rslidar_msg__msg__RslidarPacket__Sequence *’} but argument is of type ‘int *’
  121 | rslidar_msg__msg__RslidarPacket__Sequence__fini(rslidar_msg__msg__RslidarPacket__Sequence * array);
      |                                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c: In function ‘rslidar_msg__msg__RslidarPacket__are_equal’:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:91:7: warning: passing argument 1 of ‘rslidar_msg__msg__RslidarPacket__Sequence__are_equal’ from incompatible pointer type [-Wincompatible-pointer-types]
   91 |       &(lhs->packets), &(rhs->packets)))
      |       ^~~~~~~~~~~~~~~
      |       |
      |       const int *
In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:154:104: note: expected ‘const rslidar_msg__msg__RslidarPacket__Sequence *’ {aka ‘const struct rslidar_msg__msg__RslidarPacket__Sequence *’} but argument is of type ‘const int *’
  154 | rslidar_msg__msg__RslidarPacket__Sequence__are_equal(const rslidar_msg__msg__RslidarPacket__Sequence * lhs, const rslidar_msg__msg__RslidarPacket__Sequence * rhs);
      |                                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:91:24: warning: passing argument 2 of ‘rslidar_msg__msg__RslidarPacket__Sequence__are_equal’ from incompatible pointer type [-Wincompatible-pointer-types]
   91 |       &(lhs->packets), &(rhs->packets)))
      |                        ^~~~~~~~~~~~~~~
      |                        |
      |                        const int *
In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:154:159: note: expected ‘const rslidar_msg__msg__RslidarPacket__Sequence *’ {aka ‘const struct rslidar_msg__msg__RslidarPacket__Sequence *’} but argument is of type ‘const int *’
  154 | rslidar_msg__msg__RslidarPacket__Sequence__are_equal(const rslidar_msg__msg__RslidarPacket__Sequence * lhs, const rslidar_msg__msg__RslidarPacket__Sequence * rhs);
      |                                                                                                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c: In function ‘rslidar_msg__msg__RslidarPacket__copy’:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:124:7: warning: passing argument 1 of ‘rslidar_msg__msg__RslidarPacket__Sequence__copy’ from incompatible pointer type [-Wincompatible-pointer-types]
  124 |       &(input->packets), &(output->packets)))
      |       ^~~~~~~~~~~~~~~~~
      |       |
      |       const int *
In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:170:53: note: expected ‘const rslidar_msg__msg__RslidarPacket__Sequence *’ {aka ‘const struct rslidar_msg__msg__RslidarPacket__Sequence *’} but argument is of type ‘const int *’
  170 |   const rslidar_msg__msg__RslidarPacket__Sequence * input,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:124:26: warning: passing argument 2 of ‘rslidar_msg__msg__RslidarPacket__Sequence__copy’ from incompatible pointer type [-Wincompatible-pointer-types]
  124 |       &(input->packets), &(output->packets)))
      |                          ^~~~~~~~~~~~~~~~~~
      |                          |
      |                          int *
In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:171:47: note: expected ‘rslidar_msg__msg__RslidarPacket__Sequence *’ {aka ‘struct rslidar_msg__msg__RslidarPacket__Sequence *’} but argument is of type ‘int *’
  171 |   rslidar_msg__msg__RslidarPacket__Sequence * output);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
make[2]: *** [CMakeFiles/rslidar_msg__rosidl_generator_c.dir/build.make:124: CMakeFiles/rslidar_msg__rosidl_generator_c.dir/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:391: CMakeFiles/rslidar_msg__rosidl_generator_c.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/robosense_ws/build/rslidar_msg/rosidl_typesupport_introspection_cpp/rslidar_msg/msg/detail/rslidar_packet__type_support.cpp:201:66: error: specialization of ‘const rosidl_message_type_support_t* rosidl_typesupport_introspection_cpp::get_message_type_support_handle() [with T = rslidar_msg::msg::RslidarPacket_<std::allocator<void> >; rosidl_message_type_support_t = rosidl_message_type_support_t]’ after instantiation
  201 | get_message_type_support_handle<rslidar_msg::msg::RslidarPacket>()
      |                                                                  ^
make[2]: *** [CMakeFiles/rslidar_msg__rosidl_typesupport_introspection_cpp.dir/build.make:110: CMakeFiles/rslidar_msg__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/rslidar_msg/msg/detail/rslidar_packet__type_support.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:526: CMakeFiles/rslidar_msg__rosidl_typesupport_introspection_cpp.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< rslidar_msg [2.85s, exited with code 2]

Summary: 0 packages finished [3.01s]
  1 package failed: rslidar_msg
  1 package had stderr output: rslidar_msg
  1 package not processed
Completed building the worksapce.

Below are the errors:

In file included from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.h:19,
                 from /robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__functions.c:4:
/robosense_ws/build/rslidar_msg/rosidl_generator_c/rslidar_msg/msg/detail/rslidar_packet__struct.h:35:3: error: unknown type name ‘rslidar_msg__msg__RslidarPacket__Sequence’
   35 |   rslidar_msg__msg__RslidarPacket__Sequence packets;
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/robosense_ws/build/rslidar_msg/rosidl_typesupport_introspection_cpp/rslidar_msg/msg/detail/rslidar_packet__type_support.cpp:201:66: error: specialization of ‘const rosidl_message_type_support_t* rosidl_typesupport_introspection_cpp::get_message_type_support_handle() [with T = rslidar_msg::msg::RslidarPacket_<std::allocator<void> >; rosidl_message_type_support_t = rosidl_message_type_support_t]’ after instantiation
  201 | get_message_type_support_handle<rslidar_msg::msg::RslidarPacket>()

TZECHIN6 commented 1 year ago

I retried without using the above build.script, instead straightly follow the guide provided in repo.

The error is telling that missing header of RslidarPacket

In file included from /robosense_ws/src/rslidar_sdk/src/manager/node_manager.cpp:36:
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp: In function ‘robosense::lidar::Packet robosense::lidar::toRsMsg(const RslidarPacket&)’:
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:230:30: error: ‘const RslidarPacket’ {aka ‘const struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘header’
  230 |   rs_msg.timestamp = ros_msg.header.stamp.sec + double(ros_msg.header.stamp.nanosec) / 1e9;
      |                              ^~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:230:64: error: ‘const RslidarPacket’ {aka ‘const struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘header’
  230 |   rs_msg.timestamp = ros_msg.header.stamp.sec + double(ros_msg.header.stamp.nanosec) / 1e9;
      |                                                                ^~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:232:29: error: ‘const RslidarPacket’ {aka ‘const struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘is_difop’
  232 |   rs_msg.is_difop = ros_msg.is_difop;
      |                             ^~~~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:233:35: error: ‘const RslidarPacket’ {aka ‘const struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘is_frame_begin’
  233 |   rs_msg.is_frame_begin = ros_msg.is_frame_begin;
      |                                   ^~~~~~~~~~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp: In function ‘rslidar_msg::msg::RslidarPacket robosense::lidar::toRosMsg(const robosense::lidar::Packet&, const string&)’:
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:289:11: error: ‘using RslidarPacket = struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’ {aka ‘struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘header’
  289 |   ros_msg.header.stamp.sec = (uint32_t)floor(rs_msg.timestamp);
      |           ^~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:290:11: error: ‘using RslidarPacket = struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’ {aka ‘struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘header’
  290 |   ros_msg.header.stamp.nanosec = (uint32_t)round((rs_msg.timestamp - ros_msg.header.stamp.sec) * 1e9);
      |           ^~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:290:78: error: ‘using RslidarPacket = struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’ {aka ‘struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘header’
  290 |   ros_msg.header.stamp.nanosec = (uint32_t)round((rs_msg.timestamp - ros_msg.header.stamp.sec) * 1e9);
      |                                                                              ^~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:292:11: error: ‘using RslidarPacket = struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’ {aka ‘struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘header’
  292 |   ros_msg.header.frame_id = frame_id;
      |           ^~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:293:11: error: ‘using RslidarPacket = struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’ {aka ‘struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘is_difop’
  293 |   ros_msg.is_difop = rs_msg.is_difop;
      |           ^~~~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:294:11: error: ‘using RslidarPacket = struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’ {aka ‘struct rslidar_msg::msg::RslidarPacket_<std::allocator<void> >’} has no member named ‘is_frame_begin’
  294 |   ros_msg.is_frame_begin = rs_msg.is_frame_begin;
      |           ^~~~~~~~~~~~~~
/robosense_ws/src/rslidar_sdk/src/source/source_packet_ros.hpp:298:18: error: ‘using _data_type = struct std::array<unsigned char, 1248>’ {aka ‘struct std::array<unsigned char, 1248>’} has no member named ‘emplace_back’
  298 |     ros_msg.data.emplace_back(rs_msg.buf_[i]);
      |                  ^~~~~~~~~~~~
make[2]: *** [CMakeFiles/rslidar_sdk_node.dir/build.make:76: CMakeFiles/rslidar_sdk_node.dir/src/manager/node_manager.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:98: CMakeFiles/rslidar_sdk_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< rslidar_sdk [5.90s, exited with code 2]

Summary: 1 package finished [10.6s]
  1 package failed: rslidar_sdk
  1 package had stderr output: rslidar_sdk

enginbaglayici commented 1 year ago

I haven't touched the msg definitions but directly copied the rslidar_msg dev branch , made a clean build and it worked without any of the above issues you faced.

TZECHIN6 commented 1 year ago

Just tried, no luck.... What environment are you using for the build?

enginbaglayici commented 1 year ago

Sad.. I've built it up on Ubuntu 20 with ROS2 foxy installation.

TZECHIN6 commented 1 year ago

Might be its because casued by ROS2 galactic? not sure... they said it supports. Have you tried to install in Docker environment? for example docker pull a osrf/ros:galactic-desktop, then run it and build workspace as usual.

enginbaglayici commented 1 year ago

I don't think the problem is caused by the ros version as well. I also built the packages in an NVIDIA Jetson container which is dustynv/ros:foxy-ros-base-l4t-r32.5.0 but didn't try the one you mentioned.

TZECHIN6 commented 1 year ago

Are you using Git to download the SDK or using the zip file? The SDK version i am using is V.1.5.7.

RS-Alex commented 1 year ago

Hi, in short the error message is indicating that there are a missing file rslidar_msg/msg/rslidar_scan.hpp. Any one has idea how to solve this?

The folder structure should be correct

.
├── build-workspace-general.sh
└── src
    ├── rslidar_msg
    └── rslidar_sdk

Error message

Starting >>> rslidar_msg
Finished <<< rslidar_msg [4.85s]                     
Starting >>> rslidar_sdk
--- stderr: rslidar_sdk                             
=============================================================
-- ROS Not Found, Ros Support is turned Off!
=============================================================
=============================================================
-- ROS2 Found, Ros2 Support is turned On!
=============================================================
=============================================================
-- Protobuf Found, Protobuf Support is turned On!
=============================================================
=============================================================
-- Cmake run for UNIX GNU Compiler
=============================================================
=============================================================
-- rs_driver Version : v1.3.2
=============================================================
=============================================================
-- POINT_TYPE is XYZI
=============================================================
In file included from /usr/include/string.h:495,
                 from /usr/include/google/protobuf/stubs/port.h:38,
                 from /usr/include/google/protobuf/stubs/common.h:46,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.h:9,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:4:
In function ‘void* memset(void*, int, size_t)’,
    inlined from ‘void proto_msg::LidarPointCloud::SharedCtor()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:164:11,
    inlined from ‘proto_msg::LidarPointCloud::LidarPointCloud()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:143:13,
    inlined from ‘void protobuf_point_5fcloud_2eproto::InitDefaultsLidarPointCloud()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/point_cloud.pb.cc:139:1:
/usr/include/x86_64-linux-gnu/bits/string_fortified.h:71:33: warning: ‘void* __builtin_memset(void*, int, long unsigned int)’ offset [57, 69] from the object at ‘proto_msg::_LidarPointCloud_default_instance_’ is out of the bounds of referenced subobject ‘proto_msg::LidarPointCloud::timestamp_’ with type ‘double’ at offset 48 [-Warray-bounds]
   71 |   return __builtin___memset_chk (__dest, __ch, __len, __bos0 (__dest));
      |          ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/string.h:495,
                 from /usr/include/google/protobuf/stubs/port.h:38,
                 from /usr/include/google/protobuf/stubs/common.h:46,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.h:9,
                 from /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:4:
In function ‘void* memset(void*, int, size_t)’,
    inlined from ‘void proto_msg::LidarScan::SharedCtor()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:145:11,
    inlined from ‘proto_msg::LidarScan::LidarScan()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:129:13,
    inlined from ‘void protobuf_scan_2eproto::InitDefaultsLidarScan()’ at /robosense_ws/src/rslidar_sdk/src/msg/proto_msg/scan.pb.cc:125:1:
/usr/include/x86_64-linux-gnu/bits/string_fortified.h:71:33: warning: ‘void* __builtin_memset(void*, int, long unsigned int)’ offset [57, 60] from the object at ‘proto_msg::_LidarScan_default_instance_’ is out of the bounds of referenced subobject ‘proto_msg::LidarScan::timestamp_’ with type ‘double’ at offset 48 [-Warray-bounds]
   71 |   return __builtin___memset_chk (__dest, __ch, __len, __bos0 (__dest));
      |          ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /robosense_ws/src/rslidar_sdk/src/adapter/packet_ros_adapter.hpp:139,
                 from /robosense_ws/src/rslidar_sdk/src/manager/adapter_manager.h:75,
                 from /robosense_ws/src/rslidar_sdk/node/rslidar_sdk_node.cpp:34:
/robosense_ws/src/rslidar_sdk/src/msg/ros_msg_translator.h:144:10: fatal error: rslidar_msg/msg/rslidar_scan.hpp: No such file or directory
  144 | #include "rslidar_msg/msg/rslidar_scan.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /robosense_ws/src/rslidar_sdk/src/adapter/packet_ros_adapter.hpp:139,
                 from /robosense_ws/src/rslidar_sdk/src/manager/adapter_manager.h:75,
                 from /robosense_ws/src/rslidar_sdk/src/manager/adapter_manager.cpp:33:
/robosense_ws/src/rslidar_sdk/src/msg/ros_msg_translator.h:144:10: fatal error: rslidar_msg/msg/rslidar_scan.hpp: No such file or directory
  144 | #include "rslidar_msg/msg/rslidar_scan.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
compilation terminated.
make[2]: *** [CMakeFiles/rslidar_sdk_node.dir/build.make:63: CMakeFiles/rslidar_sdk_node.dir/node/rslidar_sdk_node.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/rslidar_sdk_node.dir/build.make:76: CMakeFiles/rslidar_sdk_node.dir/src/manager/adapter_manager.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:98: CMakeFiles/rslidar_sdk_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2 
---
Failed   <<< rslidar_sdk [4.21s, exited with code 2]

Summary: 1 package finished [9.23s]
  1 package failed: rslidar_sdk
  1 package had stderr output: rslidar_sdk
Completed building the worksapce.

Hi @TZECHIN6 we have located and fixed this issue, please download both RS-SDK and RS-driver again from the "release" branch and re-compile 233c69d0b181988afdfb620bbc4dd3cb

TZECHIN6 commented 1 year ago

@RS-Alex thanks for your investigation. Do you mean rslidar_msg? instead of rs_driver? as the rslidar_sdk should include the drive according to the README

TZECHIN6 commented 1 year ago

@RS-Alex I used the release branch of rslidar_msh and rslidar_sdk to compile the workspace.

root@thomasluk-DesktopPC:/robosense_ws# colcon build --symlink-install
Starting >>> rslidar_msg
Finished <<< rslidar_msg [4.44s]                     
Starting >>> rslidar_sdk
--- stderr: rslidar_sdk                                
=============================================================
-- POINT_TYPE is XYZI
=============================================================
=============================================================
-- ROS Not Found. ROS Support is turned Off.
=============================================================
=============================================================
-- ROS2 Found. ROS2 Support is turned On.
=============================================================
=============================================================
-- CMake run for UNIX GNU Compiler
=============================================================
=============================================================
-- rs_driver Version : v1.5.7
=============================================================
---
Finished <<< rslidar_sdk [15.8s]

Summary: 2 packages finished [20.4s]
  1 package had stderr output: rslidar_sdk

The workspace seem compile successfully. Thanks. However, I got issue on running the node:

root@thomasluk-DesktopPC:/robosense_ws# ros2 launch rslidar_sdk start.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-11-04-06-45-18-676955-thomasluk-DesktopPC-1779
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rslidar_sdk_node-1]: process started with pid [1781]
[INFO] [rviz2-2]: process started with pid [1783]
[rslidar_sdk_node-1] ********************************************************
[rslidar_sdk_node-1] **********                                    **********
[rslidar_sdk_node-1] **********    RSLidar_SDK Version: v1.5.7     **********
[rslidar_sdk_node-1] **********                                    **********
[rslidar_sdk_node-1] ********************************************************
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] Receive Packets From : Online LiDAR
[rslidar_sdk_node-1] Msop Port: 6699
[rslidar_sdk_node-1] Difop Port: 7788
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Driver Parameters 
[rslidar_sdk_node-1] input type: ONLINE_LIDAR
[rslidar_sdk_node-1] lidar_type: RS80
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Input Parameters 
[rslidar_sdk_node-1] msop_port: 6699
[rslidar_sdk_node-1] difop_port: 7788
[rslidar_sdk_node-1] host_address: 0.0.0.0
[rslidar_sdk_node-1] group_address: 0.0.0.0
[rslidar_sdk_node-1] pcap_path: /mnt/shared/pcap/M1/m1_1990_1991.pcap
[rslidar_sdk_node-1] pcap_rate: 1
[rslidar_sdk_node-1] pcap_repeat: 1
[rslidar_sdk_node-1] use_vlan: 0
[rslidar_sdk_node-1] user_layer_bytes: 0
[rslidar_sdk_node-1] tail_layer_bytes: 0
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Decoder Parameters 
[rslidar_sdk_node-1] wait_for_difop: 1
[rslidar_sdk_node-1] min_distance: 0.2
[rslidar_sdk_node-1] max_distance: 200
[rslidar_sdk_node-1] start_angle: 0
[rslidar_sdk_node-1] end_angle: 360
[rslidar_sdk_node-1] use_lidar_clock: 0
[rslidar_sdk_node-1] dense_points: 0
[rslidar_sdk_node-1] config_from_file: 0
[rslidar_sdk_node-1] angle_path: 
[rslidar_sdk_node-1] split_frame_mode: 1
[rslidar_sdk_node-1] split_angle: 0
[rslidar_sdk_node-1] num_blks_split: 0
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Transform Parameters 
[rslidar_sdk_node-1] x: 0
[rslidar_sdk_node-1] y: 0
[rslidar_sdk_node-1] z: 0
[rslidar_sdk_node-1] roll: 0
[rslidar_sdk_node-1] pitch: 0
[rslidar_sdk_node-1] yaw: 0
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] Send PointCloud To : ROS
[rslidar_sdk_node-1] PointCloud Topic: /rslidar_points
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] RoboSense-LiDAR-Driver is running.....
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[rviz2-2] [INFO] [1667544318.867162873] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1667544318.867227991] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-2] [INFO] [1667544318.878132182] [rviz2]: Stereo is NOT SUPPORTED
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-2] [INFO] [1667544340.464576138] [rclcpp]: signal_handler(signal_value=2)
[rslidar_sdk_node-1] [INFO] [1667544340.464578704] [rclcpp]: signal_handler(signal_value=2)
[rslidar_sdk_node-1] RoboSense-LiDAR-Driver is stopping.....
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT

I have read the config guideline and should be correct, the host can ping the lidar. No idea how to fix this timeout issue. Is it because due to the GPS issue? I havent insert with the GPS antenna.

RS-Alex commented 1 year ago

@RS-Alex I used the release branch of rslidar_msh and rslidar_sdk to compile the workspace.

root@thomasluk-DesktopPC:/robosense_ws# colcon build --symlink-install
Starting >>> rslidar_msg
Finished <<< rslidar_msg [4.44s]                     
Starting >>> rslidar_sdk
--- stderr: rslidar_sdk                                
=============================================================
-- POINT_TYPE is XYZI
=============================================================
=============================================================
-- ROS Not Found. ROS Support is turned Off.
=============================================================
=============================================================
-- ROS2 Found. ROS2 Support is turned On.
=============================================================
=============================================================
-- CMake run for UNIX GNU Compiler
=============================================================
=============================================================
-- rs_driver Version : v1.5.7
=============================================================
---
Finished <<< rslidar_sdk [15.8s]

Summary: 2 packages finished [20.4s]
  1 package had stderr output: rslidar_sdk

The workspace seem compile successfully. Thanks. However, I got issue on running the node:

root@thomasluk-DesktopPC:/robosense_ws# ros2 launch rslidar_sdk start.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-11-04-06-45-18-676955-thomasluk-DesktopPC-1779
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rslidar_sdk_node-1]: process started with pid [1781]
[INFO] [rviz2-2]: process started with pid [1783]
[rslidar_sdk_node-1] ********************************************************
[rslidar_sdk_node-1] **********                                    **********
[rslidar_sdk_node-1] **********    RSLidar_SDK Version: v1.5.7     **********
[rslidar_sdk_node-1] **********                                    **********
[rslidar_sdk_node-1] ********************************************************
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] Receive Packets From : Online LiDAR
[rslidar_sdk_node-1] Msop Port: 6699
[rslidar_sdk_node-1] Difop Port: 7788
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Driver Parameters 
[rslidar_sdk_node-1] input type: ONLINE_LIDAR
[rslidar_sdk_node-1] lidar_type: RS80
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Input Parameters 
[rslidar_sdk_node-1] msop_port: 6699
[rslidar_sdk_node-1] difop_port: 7788
[rslidar_sdk_node-1] host_address: 0.0.0.0
[rslidar_sdk_node-1] group_address: 0.0.0.0
[rslidar_sdk_node-1] pcap_path: /mnt/shared/pcap/M1/m1_1990_1991.pcap
[rslidar_sdk_node-1] pcap_rate: 1
[rslidar_sdk_node-1] pcap_repeat: 1
[rslidar_sdk_node-1] use_vlan: 0
[rslidar_sdk_node-1] user_layer_bytes: 0
[rslidar_sdk_node-1] tail_layer_bytes: 0
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Decoder Parameters 
[rslidar_sdk_node-1] wait_for_difop: 1
[rslidar_sdk_node-1] min_distance: 0.2
[rslidar_sdk_node-1] max_distance: 200
[rslidar_sdk_node-1] start_angle: 0
[rslidar_sdk_node-1] end_angle: 360
[rslidar_sdk_node-1] use_lidar_clock: 0
[rslidar_sdk_node-1] dense_points: 0
[rslidar_sdk_node-1] config_from_file: 0
[rslidar_sdk_node-1] angle_path: 
[rslidar_sdk_node-1] split_frame_mode: 1
[rslidar_sdk_node-1] split_angle: 0
[rslidar_sdk_node-1] num_blks_split: 0
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1]              RoboSense Transform Parameters 
[rslidar_sdk_node-1] x: 0
[rslidar_sdk_node-1] y: 0
[rslidar_sdk_node-1] z: 0
[rslidar_sdk_node-1] roll: 0
[rslidar_sdk_node-1] pitch: 0
[rslidar_sdk_node-1] yaw: 0
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] Send PointCloud To : ROS
[rslidar_sdk_node-1] PointCloud Topic: /rslidar_points
[rslidar_sdk_node-1] ------------------------------------------------------
[rslidar_sdk_node-1] RoboSense-LiDAR-Driver is running.....
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[rviz2-2] [INFO] [1667544318.867162873] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1667544318.867227991] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-2] [INFO] [1667544318.878132182] [rviz2]: Stereo is NOT SUPPORTED
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-2] [INFO] [1667544340.464576138] [rclcpp]: signal_handler(signal_value=2)
[rslidar_sdk_node-1] [INFO] [1667544340.464578704] [rclcpp]: signal_handler(signal_value=2)
[rslidar_sdk_node-1] RoboSense-LiDAR-Driver is stopping.....
[rslidar_sdk_node-1] ERRCODE_MSOPTIMEOUT

I have read the config guideline and should be correct, the host can ping the lidar. No idea how to fix this timeout issue. Is it because due to the GPS issue? I havent insert with the GPS antenna.

Your SDK has started successfully. The MSOPTIMEOUT code indicates that your computer is not receiving data stream from your lidar. You can check the following items:

Check if you have selected the correct lidar type in the config file
If the port numbers in the config file is correct
Check if your computer's IP has been changed correspond to lidar's destination IP (default IP is 192.168.1.102)
If you are still not getting the error code, please install Wireshark and check if you can get the UDP data stream normally.

TZECHIN6 commented 1 year ago

@RS-Alex I have done all the 4-steps you have mentioned. I can see the packet in Wireshark as well...

I am not sure is it caused by my docker environment issue? I run the demo talker and listener node and no receive from listener node https://docs.ros.org/en/galactic/How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html

Any other way/command to check the network issue in docker?

RS-Alex commented 1 year ago

@TZECHIN6 Please make sure your firewall is closed, and please send the screen shot of the config.yaml file. May I know what lidar type you are using?

TZECHIN6 commented 1 year ago

I am using RS80, the firewall is closed.

The problem might be caused by flooded UDP in switch. Power cycles it will solve the issue. at least in my case. Thanks for your help. I will open another issue ticket for new issue.

lonlonago commented 1 year ago

port num is error, reset it in config file

RoboSense-LiDAR / rslidar_sdk

Colcon build error in ROS2 galactic desktop docker environment #105