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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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/scan topic always has 0 values for range and intensity #60

Closed Mohit-Ak closed 3 years ago

Mohit-Ak commented 3 years ago

Issue: /scan(Laser Scan) topic always has zero values in range and intensity. OS: Ubuntu 20.04 ROS2: Foxy Sensor: OS-32 Steps to reproduce:

  1. Clone the repository inside src of a ROS2 workspace git clone -b foxy-devel https://github.com/ros-drivers/ros2_ouster_drivers.git
  2. Follow the steps mentioned in the readme file to set up the sensor
  3. The Mode that was tried where 1024x10 or 512x10. These were set in the os1.yaml file.
  4. Ensure that SCAN is present in os1_proc_mask os1_proc_mask: IMG|PCL|IMU|SCAN
  5. Run ros2 launch ros2_ouster os1_launch.py
  6. Open RVIZ and add set the frame to laser_sensor_frame
  7. Add Pointcloud and Laser scan topic to the display panel. See PointCloud in /points topic. image

See No Laserscan in /scan topic. image

Sample ROS topic echo of /scan

header:
  stamp:
    sec: 1812
    nanosec: 946384100
  frame_id: laser_data_frame
angle_min: -3.1415927410125732
angle_max: 3.1415927410125732
angle_increment: 0.006135923322290182
time_increment: 9.765625145519152e-05
scan_time: 0.10000000149011612
range_min: 0.10000000149011612
range_max: 120.0
ranges:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
<More zeros>
intensities:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
<More zeros>
bwr-eng commented 3 years ago

I have the same problem. I can't view also the point cloud on Rviz but with ros2 topic echo I can see it.

SteveMacenski commented 3 years ago

@bwr-eng clearly your issue is QoS if you can't even get any data out of it, please refrain from derailing over tickets.

@Mohit-Ak I am unable to reproduce.

Mohit-Ak commented 3 years ago

@bwr-eng clearly your issue is QoS if you can't even get any data out of it, please refrain from derailing over tickets.

@Mohit-Ak I am unable to reproduce.

Do you need anything else from my side to reproduce?

SteveMacenski commented 3 years ago

Well at the moment there's no action to be taken since we can't reproduce.

Mohit-Ak commented 3 years ago

The issue got resolved in the new 2.x firmware + ROS driver update.