Closed FlyHan closed 1 year ago
Hi @FlyHan,
Are you talking about the boot up of the device, or the start up of the ROS node? It looks like you are using an O3X100, is that correct? Could you also provide the versions of the software you are using: firmware, ifm3d, ifm3d-ros. Thanks!
Hi @lola-masson
Thanks for the reply. You are right. I'm using an O3X100, and talking about the start up of the ROS node.
firmware, ifm3d, ifm3d-ros, the versions are as follows:
firmware: IFM_Software = 1.1.190", ifm3d: version=0.18.0 ifm3d-ros: 0.6.2
I just tried it on my setup, using the same firmware as yours, with ifm3d 0.20.3 and ifm3d-ros 0.7.0. I see that the time between the roslaunch command and the data actually streaming is 7 seconds. Could you explain how you get the 35 seconds you mention?
Hi @lola-masson
Thanks for trying. The 35s from 08:28:54.334 to 08:29:28.109, were analyzed through the ROS logs on the first floor. Can you share ROS logs for 7s? I'll try ifm3d-ros 0.7.0 myself to compare it
Hi @lola-masson
I found the problem, the InitStructures() function is delayed by 8s, so that the start up of the ROS node delay is 16s. The delay of 8s is added because the abnormal automatic restart function is added, and the delay is required after the restart to connect successfully.
Thank you so much
Startup time is too long, can it be optimized? Or in two parts, start the basic service first, and then connect when needed. I found that one reboot took 10s.
Looking forward to the reply
The logs: