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ouster-lidar / ouster-ros

Official ROS drivers for Ouster sensors (OS0, OS1, OS2, OSDome)
https://ouster.com
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OS0 showing strange ghost ring on latest master branch? #274

Closed alexjunholee closed 10 months ago

alexjunholee commented 10 months ago

Hi, We're currently using a OS0-128 LiDAR on Ubuntu 20.04. And we've experienced some weird LiDAR behaviors on this repository.

In ouster studio and latest release (0.10.0), it does not happens and everything looks fine. However if i run the driver.launch with the provided master branch, it shows an angel ring like below: (is it smth related with the ring representation? it looks like the most upper ring is mislocated in there)

and by the way, it also shows a strange reflections incurred by the cable itself. Would this will be fixed in the next release? Thanks!

alexjunholee commented 10 months ago

  1. The angel ring Screenshot from 2023-12-12 16-07-21

  2. Removed angel ring, but now the cable Screenshot from 2023-12-12 16-23-00

Samahu commented 10 months ago

@alexjunholee this is rather strange and unexpected, could you try turning off LaserScan message and see if that's something related? You can enable/disable the the LaserScan message topic through the proc_mask launch file parameter.

Samahu commented 10 months ago

With regard to the second image, it is not clear to me how the cable is contributing to the output. Can you highlight where the issue please, thank you.

alexjunholee commented 10 months ago

Hi Samahu,

I will checkout turning off the laserscan later.

The artifacts marked in yellow circle below is the noise from OS0 connector area.

Screenshot from 2023-12-12 16-23-00

Will this be resolved If i modify the connector to a L-Shaped end? I am curious of how you are resolving this issue.

20231213_093837

Thanks!

Samahu commented 10 months ago

@alexjunholee Can you add the sensor REV and FW in use to the issue description?

alexjunholee commented 10 months ago

@Samahu I am not sure of what REV and FW corresponds to, but it seems like its REV7 (OS0) and we are using v3.0.1 with Image version ousteros-image-prod-bootes-v3.0.1+20230209044733 (as identical version when received the sensor)

:)

Samahu commented 10 months ago

With regard to the interference caused by the cable connected to OS0 you could try utilizing a right angle connector, this should significantly reduce the interference.

Still waiting on your confirmation with regard to LaserScan ring

alexjunholee commented 10 months ago

Thanks for you update, it seems like like it was a laserscan points. It was publishing a scan ring 0 from the scan_pubs. No worries!

Samahu commented 10 months ago

Thanks for you update, it seems like like it was a laserscan points. It was publishing a scan ring 0 from the scan_pubs. No worries!

Cool, with regard to the artifacts around the connector area all the solutions that I could come up with are dependent on your sensor setup: