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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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Several errors when running demo case in foxy #85

Closed mnissov closed 2 years ago

mnissov commented 2 years ago

I am experiencing several errors when running the demo launch script in foxy. I am using ubuntu 20.04 and OS0-128 and have installed the package by sudo apt install ros-foxy-ros2-outster. I then setup the network connection through IPv4 following the README,. pinging the sensor returns

$ ping 10.5.5.92
PING 10.5.5.92 (10.5.5.92) 56(84) bytes of data.
64 bytes from 10.5.5.92: icmp_seq=1 ttl=64 time=0.121 ms
64 bytes from 10.5.5.92: icmp_seq=2 ttl=64 time=0.154 ms
64 bytes from 10.5.5.92: icmp_seq=3 ttl=64 time=0.108 ms

Furthermore, I have changed the config file, /opt/ros/foxy/share/ros2_ouster/params/os1.yaml such that

    lidar_ip: 10.5.5.92
    computer_ip: 10.5.5.1

while leaving the rest as default. Then, running the demo launch file results in 

$ ros2 launch ros2_ouster os1_launch.py 
[INFO] [launch]: All log files can be found below /home/morten/.ros/log/2021-10-18-09-40-17-085609-agrirobot-6972
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/lifecycle_node.py:84: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
  warnings.warn("The parameter 'node_name' is deprecated, use 'name' instead")
/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/lifecycle_node.py:95: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  super().__init__(name=name, namespace=namespace, **kwargs)
/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py:190: UserWarning: The parameter 'node_namespace' is deprecated, use 'namespace' instead
  warnings.warn("The parameter 'node_namespace' is deprecated, use 'namespace' instead")
[INFO] [ouster_driver-1]: process started with pid [6984]
[ouster_driver-1] [INFO] [1634542817.433324344] [ouster_driver]: Configuring Ouster driver node.
[ouster_driver-1] [INFO] [1634542817.433507695] [ouster_driver]: Connecting to sensor at 10.5.5.92.
[ouster_driver-1] [INFO] [1634542817.433517971] [ouster_driver]: Broadcasting data from sensor to 10.5.5.1.
[ERROR] [launch_ros.actions.lifecycle_node]: Failed to make transition 'TRANSITION_CONFIGURE' for LifecycleNode '/ouster_driver'
[ouster_driver-1] [ERROR] [1634542817.448846665] []: Caught exception in callback for transition 10
[ouster_driver-1] [ERROR] [1634542817.448858894] []: Original error: vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)
[ouster_driver-1] [WARN] [1634542817.448894163] []: Error occurred while doing error handling.
[ouster_driver-1] [ERROR] [1634542817.448901229] [ouster_driver]: Handing error in Ouster driver node.

resulting in only the following topics being posted

$ ros2 topic list
/ouster_driver/transition_event
/parameter_events
/rosout
mnissov commented 2 years ago

Closing, support of firmware 2.0 is not of interest for the foxy branch