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ros-drivers / ros2_ouster_drivers

ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars
https://ouster.com/
Apache License 2.0
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Node seg faults with 32 channel OS1 but not with 64 channel #121

Open kagibson opened 1 year ago

kagibson commented 1 year ago

Hi there,

I have two OS1's connected to an arm64-based controller running Foxy. One is a 64 channel and the other is a 32 channel. When I launch the node for the 64 channel, it works and I get a point cloud. However, when I launch the 32 channel, I get a seg fault in the node. I added backwards_ros to the node to get the stack trace and I've attached it. I've also attached the parameter files for both nodes.

ouster-segfault-stacktrace.txt

os1_ch64_params.txt

ouster-curl-data.txt

os1_ch32_params.txt

vinnnyr commented 1 year ago

I think to unblock you you can change this line in the params: os1_proc_mask: IMG|PCL|IMU|SCAN

From the trace you can see it's coming from the scan processor [ouster_driver-1] #0 | Source "/workspace/src/ouster_driver/include/ros2_ouster/processors/scan_processor.hpp", line 80, in toMsg

Try setting this parameter to the following if you don't need the SCAN functionality. os1_proc_mask: IMG|PCL|IMU

See if that helps and please report back. Then we can focus on how to fix the segfault for SCAN.

kagibson commented 1 year ago

We tried removing the SCAN functionality and the node doesn't crash anymore, however, we don't get a point cloud. If we connect to the LiDAR with a laptop and Ouster Studio we can see a point cloud there. We'll try sniffing the packets with Wireshark and see what the LiDAR is sending out when the node is up.