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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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When using Cyclone DDS topics aren’t being subscribed #81

Closed jediofgever closed 3 years ago

jediofgever commented 3 years ago

Hi ,

I recently attached an Ouster lidar to a robot running on an Intel NUC. With the default rmw of ros foxy, I am able to capture the cloud and view it in RVIZ. I want however process the cloud on another machine, the machine and intel NUC are on same network, all topics and nodes are discoverable mutually between these two.

When I view the cloud on rviz on remote machine, the cloud reaches partially(maybe due to size ).

I changed default DDS to Cyclone DDS to see if it can deal with the problem. However when rmw is set to Cyclone DDS, none of the topics published by the driver are subscribe-able, I checked all Qos compatibilities, ros2 topic echo to any topic by driver hangs without printing anything

I test demo talker and listener nodes and some other nodes when in Cyclone DDS they all work as intended.

Any recommendations ? Has someone run this driver in a similar setup or non-default DDS ?

SteveMacenski commented 3 years ago

Is this still relevant?

jediofgever commented 3 years ago

It was, could not make the driver work when cyclone DDs was selected as default rmw. Maybe it’s my own configuration settings but not sure, so that’s why wanted to see whether anyone tested the driver with cyclone DDs