search

tier4 / nebula

A universal LiDAR and radar driver for ROS 2, supporting Hesai, Velodyne, Robosense and Continental sensors.
https://tier4.github.io/nebula/
Apache License 2.0
55 stars 53 forks source link

`pandar_packets` sometimes contains more than one scan's worth of packets in extreme CPU load scenarios #227

Open mojomex opened 2 weeks ago

mojomex commented 2 weeks ago

This issue occurs in at least 2ea66b6, which has been used in this analysis: TIER IV INTERNAL LINK.

This could mean that scan cutting (see #173) is not robust towards packet loss and/or reordering. For now, this is not an issue that has been observed in non-stress test scenarios and is thus not a high priority.