In the state of high CPU load, the point cloud points are incomplete

ouster-lidar / ouster-ros

Official ROS drivers for Ouster sensors (OS0, OS1, OS2, OSDome)

https://ouster.com

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In the state of high CPU load, the point cloud points are incomplete #17

Closed cfzhous closed 1 year ago

cfzhous commented 2 years ago

Samahu commented 2 years ago

Hi @cfzhous,

Can you answer the following questions:

How are you connected to the sensor, through Ethernet or WiFi?
If it is Ethernet are you connected through an usb-ethernet adapter?
Are you using a release build?
I see that you have a process with high CPU usage, is this only due to the ouster-ros or is something else included.

cfzhous commented 2 years ago

Hi@Samahu

Connect the sensor directly via Ethernet
Use the "catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release" command to compile the project
Test the CPU through "stress -c 5", and observe the situation of ouster under high CPU load. When the CPU is not fully loaded, there will be packet loss, and the packet loss will be more serious when the CPU is fully loaded.

cfzhous commented 2 years ago

Hi@Samahu

Connect the sensor directly via Ethernet

Use the "catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release" command to compile the project

Test the CPU through "stress -c 5", and observe the situation of ouster under high CPU load. When the CPU is not fully loaded, there will be packet loss, and the packet loss will be more serious when the CPU is fully loaded.

This is tested under Nvidia Xavier platform

Samahu commented 2 years ago

@cfzhous May I ask what ouster device that you are using and what is the version of the firmware. Also could run the command sudo ethtool <NIC interface> | grep Speed against the network interface that connects the sensor to get the interface speed.

I'll try to re-produce the issue and respond back.

yongdengyinan commented 2 years ago

The incomplete part of the points is missing or lost. I would suggest running the ifconfig to check the RX dropped, if it remains 0, it means the lidar has sent all the data to the controller, and the packet drop problem is not caused by the lidar.

cfzhous commented 2 years ago

@cfzhous May I ask what ouster device that you are using and what is the version of the firmware. Also could run the command sudo ethtool <NIC interface> | grep Speed against the network interface that connects the sensor to get the interface speed.

I'll try to re-produce the issue and respond back.

cfzhous commented 2 years ago

@cfzhous May I ask what ouster device that you are using and what is the version of the firmware. Also could run the command sudo ethtool <NIC interface> | grep Speed against the network interface that connects the sensor to get the interface speed. I'll try to re-produce the issue and respond back.

1000Mb/s

Samahu commented 2 years ago

Hi @cfzhous, thanks for the feedback. Could you try increasing the packet queue size as instructed here and check if this helps with your case.

Samahu commented 1 year ago

@cfzhous I haven't heard back from you on this topic. In case you still have issue please try to update to the latest version of ouster-ros and check if that helps with your situation. I will close this issue for now due to inactivity.