EDIT 10/01/23:
I made a typo in the source IP address: it is 192.168.0.200 instead of 196.168.0.200.
Hello,
I am new to Linux, ROS, and LiDAR, and am currently having the following issue which I can't comprehend myself.
Context:
I have several pcap files with associated json files, which contain LiDAR data of various test measurements we have done. I would like to emulate a sensor sending this data and get it into ROS2.
System:
Windows 11, WSL2, with Ubuntu 22.04.1, ROS2 Humble, and the binaries version of this driver.
Situation and problem:
I have set the network adapter in the tins_driver_config.yaml file. When I run the driver with 'ros2 launch ros2_ouster tins_driver_launch.py'. It seems to get stuck in the launch phase. This is what is printed in the command line:
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-01-03-14-59-31-257634-SQ-MPC13-1586
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/humble/lib/python3.10/site-packages/launch_ros/events/lifecycle/lifecycle_node_matchers.py:30: UserWarning: 'matches_node_name' has been moved into the 'launch.events' module and will be removed from the 'lifecycle' module in the future
warnings.warn(
[INFO] [ouster_tins_driver-1]: process started with pid [1598]
[ouster_tins_driver-1] [INFO] [1672754371.602949171] [ouster_driver]: Configuring Tins-based Ouster driver node.
[ouster_tins_driver-1] [INFO] [1672754371.603123263] [ouster_driver]: Looking for packets from sensor IPv4 address 192.168.0.200 to destination 255.255.255.255.
[ouster_tins_driver-1] [INFO] [1672754371.755437333] [ouster_driver]: This driver is compatible with sensors running fw 2.x.
[ouster_tins_driver-1] [INFO] [1672754371.757556730] [ouster_driver]: Using system defaults QoS for sensor data
[INFO] [launch.user]: [LifecycleLaunch] Ouster driver node is activating.
[ouster_tins_driver-1] [INFO] [1672754371.781770407] [ouster_driver]: Activating Ouster driver node.
Is does not get anywhere else. If I send out the pcap file, then nothing changes. At no moment I can find an active node (with rqt_graph and node list).
What I tried:
In the documentation it does not (explicitly) mention that also for the Tins based driver you should provide correct IP addresses. However, I guess this is needed? I downloaded Wireshark to investigate the packages in the pcap file, and it tells me they all have source 192.168.0.200 and destination 255.255.255.255. I am wondering whether this makes sense. Nevertheless, I entered these in the configuration file and attempted to launch again but that did not change anything.
Questions:
1) Are the IP addresses of the packages in the PCAP file relevant and how can I read them properly?
2) Could my problem be related to me using the binaries instead of building from sources myself?
2) What's going wrong? (:
EDIT 10/01/23: I made a typo in the source IP address: it is 192.168.0.200 instead of 196.168.0.200.
Hello, I am new to Linux, ROS, and LiDAR, and am currently having the following issue which I can't comprehend myself.
Context: I have several pcap files with associated json files, which contain LiDAR data of various test measurements we have done. I would like to emulate a sensor sending this data and get it into ROS2.
System: Windows 11, WSL2, with Ubuntu 22.04.1, ROS2 Humble, and the binaries version of this driver.
Situation and problem: I have set the network adapter in the tins_driver_config.yaml file. When I run the driver with 'ros2 launch ros2_ouster tins_driver_launch.py'. It seems to get stuck in the launch phase. This is what is printed in the command line:
Is does not get anywhere else. If I send out the pcap file, then nothing changes. At no moment I can find an active node (with rqt_graph and node list).
What I tried: In the documentation it does not (explicitly) mention that also for the Tins based driver you should provide correct IP addresses. However, I guess this is needed? I downloaded Wireshark to investigate the packages in the pcap file, and it tells me they all have source 192.168.0.200 and destination 255.255.255.255. I am wondering whether this makes sense. Nevertheless, I entered these in the configuration file and attempted to launch again but that did not change anything.
Questions: 1) Are the IP addresses of the packages in the PCAP file relevant and how can I read them properly? 2) Could my problem be related to me using the binaries instead of building from sources myself? 2) What's going wrong? (:
Any help is much appreciated!
Kind regards, Pier