Node seg faults with 32 channel OS1 but not with 64 channel
kagibson opened this issue · 2 comments
Hi there,
I have two OS1's connected to an arm64-based controller running Foxy. One is a 64 channel and the other is a 32 channel. When I launch the node for the 64 channel, it works and I get a point cloud. However, when I launch the 32 channel, I get a seg fault in the node.
I added backwards_ros to the node to get the stack trace and I've attached it. I've also attached the parameter files for both nodes.
I think to unblock you you can change this line in the params: os1_proc_mask: IMG|PCL|IMU|SCAN
From the trace you can see it's coming from the scan processor
[ouster_driver-1] #0 | Source "/workspace/src/ouster_driver/include/ros2_ouster/processors/scan_processor.hpp", line 80, in toMsg
Try setting this parameter to the following if you don't need the SCAN functionality.
os1_proc_mask: IMG|PCL|IMU
See if that helps and please report back. Then we can focus on how to fix the segfault for SCAN.
We tried removing the SCAN functionality and the node doesn't crash anymore, however, we don't get a point cloud. If we connect to the LiDAR with a laptop and Ouster Studio we can see a point cloud there. We'll try sniffing the packets with Wireshark and see what the LiDAR is sending out when the node is up.