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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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[ROS2] Launching nodes when the lidar is not yet powered #337

Open Risbo6 opened 4 weeks ago

Risbo6 commented 4 weeks ago

Hi,

I'm launching driver.launch.py as a service using systemd during the vehicle boot process. The issue is that the lidar powers up approximately 30 seconds later, causing the service to get stuck in a transitioning failed state. Restarting the service resolves the issue, but I would like this to be handled automatically.

Any ideas on how I can achieve this?

Mai 14 15:14:47 nvidia-desktop systemd[1]: Starting ROS2 Launch file for os-lidar...
Mai 14 15:17:14 nvidia-desktop systemd[1]: Started ROS2 Launch file for os-lidar.
Mai 14 15:17:19 nvidia-desktop bash[3880]: [INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2024-05-14-15-17-19-614101-nvidia-desktop-3880
Mai 14 15:17:19 nvidia-desktop bash[3880]: [INFO] [launch]: Default logging verbosity is set to INFO
Mai 14 15:17:20 nvidia-desktop bash[3880]: [INFO] [os_driver-1]: process started with pid [4308]
Mai 14 15:17:20 nvidia-desktop bash[3880]: [INFO] [ros2-2]: process started with pid [4310]
Mai 14 15:17:20 nvidia-desktop bash[3880]: [INFO] [ros2-3]: process started with pid [4312]
Mai 14 15:17:23 nvidia-desktop bash[3880]: [os_driver-1] [WARN] [1715692643.809827880] [ouster.os_driver]: lidar port set to zero, the client will assign a random port number!
Mai 14 15:17:23 nvidia-desktop bash[3880]: [os_driver-1] [WARN] [1715692643.810092849] [ouster.os_driver]: imu port set to zero, the client will assign a random port number!
Mai 14 15:17:23 nvidia-desktop bash[3880]: [os_driver-1] [INFO] [1715692643.810145920] [ouster.os_driver]: Will use automatic UDP destination
Mai 14 15:17:29 nvidia-desktop bash[3880]: [os_driver-1] [ERROR] [1715692649.049734280] [ouster.os_driver]: exception thrown while configuring the sensor, details: CurlClient::execute_get failed for the url: [http://os-122303000256.local/api/v1/system/firmware] with the error message: Couldn't resolve host name
Mai 14 15:17:29 nvidia-desktop bash[3880]: [os_driver-1] [WARN] [1715692649.049915402] []: Error occurred while doing error handling.
Mai 14 15:17:29 nvidia-desktop bash[3880]: [ros2-2] Transitioning failed
Mai 14 15:17:29 nvidia-desktop bash[3880]: [ros2-3] Unknown transition requested, available ones are:
Mai 14 15:17:30 nvidia-desktop bash[3880]: [ERROR] [ros2-3]: process has died [pid 4312, exit code 1, cmd 'bash -c sleep 1; $0 $@ /opt/ros/foxy/bin/ros2 lifecycle set /ouster/os_driver activate'].
Mai 14 15:17:30 nvidia-desktop bash[3880]: [INFO] [ros2-2]: process has finished cleanly [pid 4310]

Platform (please complete the following information): OS-1 ROS 2 Foxy Linux ARM (jetson)

Samahu commented 3 weeks ago

Definitely we want to handle this case .. but I am wondering if adding a delay to the node startup would help with you situation since you know how long it takes for the sensor to get powered up.