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ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs
http://ros.org/wiki/velodyne
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[velodyne_laserscan_node-3] [WARN] [velodyne_laserscan_node]: PointCloud2 fields in unexpected order. Using slower generic method. #457

Open arics2020 opened 2 years ago

arics2020 commented 2 years ago

Please complete the following information:

PC: Jetson Xavier (ARM64) OS and Version: Ubuntu 18.04 ROS Version: Eloquent Built from (ARM64) sudo apt install ros-eloquent-velodyne

Describe the bug Using a VLP-32C, I get a warning from velodyne_laserscan that the fields are not in the expected order:

[velodyne_laserscan_node-3] [WARN] [velodyne_laserscan_node]: PointCloud2 fields in unexpected order. Using slower generic method.

Full output bash: ros2 launch velodyne velodyne-all-nodes-VLP32C-launch.py [INFO] [launch]: All log files can be found below /home/.ros/log/2022-03-24-13-24-53-910289-6890 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [velodyne_driver_node-1]: process started with pid [26912] [INFO] [velodyne_convert_node-2]: process started with pid [26913] [INFO] [velodyne_laserscan_node-3]: process started with pid [26914] [velodyne_driver_node-1] [INFO] [velodyne_driver_node]: Velodyne VLP-32C rotating at 600.000000 RPM [velodyne_driver_node-1] [INFO] [velodyne_driver_node]: publishing 151 packets per scan [velodyne_driver_node-1] [INFO] [velodyne_driver_node]: Cut at specific angle feature activated. Cutting velodyne points always at 6.283185 rad. [velodyne_driver_node-1] [INFO] [velodyne_driver_node]: expected frequency: 9.980 (Hz) [velodyne_driver_node-1] [INFO] [velodyne_driver_node]: Only accepting packets from IP address: 192.168.1.201 [velodyne_driver_node-1] [INFO] [velodyne_driver_node]: Opening UDP socket: port 2368 [velodyne_convert_node-2] [INFO] [velodyne_convert_node]: correction angles: /opt/ros/eloquent/share/velodyne_pointcloud/params/VeloView-VLP-32C.yaml [velodyne_laserscan_node-3] [WARN] [velodyne_laserscan_node]: PointCloud2 fields in unexpected order. Using slower generic method.

seems to be same problem as here: https://github.com/ros-drivers/velodyne/issues/292