SICKAG / sick_scan_xd

A versatile driver for a wide range of SICK LiDAR and RADAR devices, providing support for both Linux (native, ROS 1, ROS 2) and Windows (native, ROS 2) platforms.
Apache License 2.0
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Scanner freezes in develop branch #397

Closed masskro0 closed 1 month ago

masskro0 commented 1 month ago

With the current commit 6bdc5a3 in the develop branch, my two Sick TiM571 scanners freeze after some time (even after a few seconds after starting the ROS2 node). The node does not produce any warnings or errors. Sometimes it freezes for a few seconds, sometimes infinitely. I think this happens non-deterministically, so I cannot safely reproduce this, but this happens without exception every time. It is not a hardware fault as both scanners freeze. It is also not a performance issue as the PC does not run anything else and the CPU/memory utilization is very low.

However, the master branch is stable and I am not able to reproduce the freezing there.

My system: Ubuntu 22.04 ROS Humble

My parameters:

  frame_id: "sick_tim_left"
  hostname: "192.168.22.24"
  launch_file: "sick_tim_5xx.launch"
  max_ang: 2.28
  min_ang: -2.25
  range_max: 7.0
  range_min: 0.2
  tf_publish_rate: 0.0
  cloud_topic: "sick_tim_left/cloud"
  laserscan_topic: "sick_tim_left/scan"

My launch file:

Node(
            package='sick_scan_xd',
            executable='sick_generic_caller',
            arguments=...,
            remappings=...
),

I would love to debug this issue or provide more information, but I don't know how.

rostest commented 1 month ago

Thanks for your feedback. The current master and develop branch (commit 6bdc5a3) have identical sources (i.e. sick_scan_xd version 3.5.0). I cannot see any difference. Can you diff your local versions to find out which change could have caused the problem?

masskro0 commented 1 month ago

I'm closing this issue as I'm not certain, whether the problem is related to this repository. I tried the master branch as well as release version 3.2.0 and had the same issue. What's suspicious is that both scanners freeze at the same time and the freezing happens undeterministically. Could be a buffer overflow, connectivity or even ROS issues. But since then, I was not able to reproduce this anymore.

Sorry for bothering.