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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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Pointcloud2 Message frequency drops and data is lost #89

Closed davidskdds closed 2 years ago

davidskdds commented 2 years ago

Hello, I use the driver under ROS2 Foxy for the Ouster OS0-64 sensor. Basically the driver works. Sometimes the frequency with which the Pointcloud2 message is sent is reduced. Nominal this should be 10 Hz in my configuration. If I monitor the frequency with "ros2 topic hz" it sometimes drops to 7-8 Hz. Apparently some messages are lost. For Quality of Service (QoS) I have set "Sensor_QoS". It also looks like the frequency gets lower the more subscribers are active on the Pointcloud2 message.

Do you have any idea what the problem could be?

bertaveira commented 2 years ago

Same thing happens to me with a OS1-64 with firmware v2.1.3 on foxy

nrabany commented 2 years ago

Hello, you can increase the socket buffers size to solve this prolem. It is explained here (if you are using fastdds as rmw): https://fast-dds.docs.eprosima.com/en/latest/fastdds/use_cases/large_data/large_data.html

SteveMacenski commented 2 years ago

Correct, this is not a driver issue, this is a bandwidth on DDS issue