RS32 point cloud looks flat

[NozomiWyane]

this is how it looks like when I run sdk in ubuntu ros.

The config is list below.

Please help me out.

[RS-Alex]

angle.csv
Please add the angle path parameter in your config file. You can find the detailed information about "angle path" parameter in driver "hidden_parameter_intro" file.
The angle.csv file is attached

[NozomiWyane]

Thanks for your support. I try this csv in my path then the point cloud change to this below.

My config.yaml is list below:
common:
msg_source: 1 #0: not use Lidar
#1: packet message comes from online Lidar
#2: packet message comes from ROS or ROS2
#3: packet message comes from Pcap file
#4: packet message comes from Protobuf-UDP
#5: point cloud comes from Protobuf-UDP
send_packet_ros: false #true: Send packets through ROS or ROS2(Used to record packet)
send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2
send_packet_proto: false #true: Send packets through Protobuf-UDP
send_point_cloud_proto: false #true: Send point cloud through Protobuf-UDP
pcap_path: /home/robosense/lidar.pcap #The path of pcap file

lidar:

• driver:
  lidar_type: RS32 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS
  frame_id: /rslidar #Frame id of message
  msop_port: 6699 #Msop port of lidar
  difop_port: 7788 #Difop port of lidar
  start_angle: 0 #Start angle of point cloud
  end_angle: 360 #End angle of point cloud
  min_distance: 0.2 #Minimum distance of point cloud
  max_distance: 200 #Maximum distance of point cloud
  use_lidar_clock: false #True--Use the lidar clock as the message timestamp
  #False-- Use the system clock as the timestamp
  angle_path: /home/cdp/ws_lidar/src/rslidar_sdk/config/angle.csv
  split_frame_mode: 1
  cut_angle: 0
  num_pkts_split: 1
  wait_for_difop: true
  saved_by_rows: false
  multi_cast_address: 0.0.0.0
  x: 0
  y: 0
  z: 0
  roll: 0
  pitch: 0
  yaw: 0
  ros:
  ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
  ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
  ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS
  proto:
  point_cloud_recv_port: 60021 #Port number used for receiving point cloud
  point_cloud_send_port: 60021 #Port number which the point cloud will be send to
  msop_recv_port: 60022 #Port number used for receiving lidar msop packets
  msop_send_port: 60022 #Port number which the msop packets will be send to
  difop_recv_port: 60023 #Port number used for receiving lidar difop packets
  difop_send_port: 60023 #Port number which the difop packets will be send to
  point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to
  packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to

I think it still doesn't work normally. Please help?

[RS-Alex]

Can I ask if you were playing with the RS-Helios (New 32 beam) or RS-32 (old 32 beam) unit?
Can I please have your SN number?

[NozomiWyane]

Im using the old 32 beam and SN is161181401417

[RS-Alex]

It seems like this lidar is faulty, please try run this lidar in the RS-View software and if the performance is still the same, please contact our sales manager for fix/replacement issue.

[NozomiWyane]

There is no points in the RSview. But I can still see points in ros sdk. Is there something wrong in my config of RSview?

Three csv files are also in this dir

[RS-Alex]

Please select RSlidar32. You also need to make sure your port is set correctly. (Tools -> data port setting)

[NozomiWyane]

Now points cloud looks like this.
I found a fault diagnosis and result like this

[RS-Alex]

Please contact our sales manager for fix/replacement issues.