corrupt scans

[Janphr]

Hello!

I've been having problems lately with incomplete scans on both my OS1 (Rev 06 and D).

I'm pretty sure I didn't have the problem in the past, but now, under some CPU load (e.g. with 'stress -c 4'), blocks of columns are missing.

Since I don't need 10hz and couldn't fix the problem by running different firmware and ouster-ros versions, I just filter out corrupt scans. These images should show the problem pretty well, with a larger and smaller area missing. These flicker over the entire 360 degrees and can be as large as 180 degrees. But since I only need the front part of the scan, I ignore the rest (the gray part) and only filter the scans that are corrupted in the front part.

• Ouster Sensor?
  OS1 Rev 06 and D
• Ouster Firmware Version?
  2.51 and 2.4
• ROS version/distro?
  noetic
• Operating System?
  linux 20.04
• Machine Architecture?
  i7-8565U (1.80GHz x 8)

[Samahu]

Thanks for reporting the issue! Soon (early June) would should have an update that should reduce overall CPU utilization. I would expect it to help with your situation. I will keep you updated.

[Janphr]

I forgot to mention, I have the same problem using Ouster Studio under Windows.
Not as bad tho, but with no additional CPU load...
https://nextcloud.telematik-zentrum.de/index.php/s/rJYqg7TAPxAQsEL

With ouster-ros on linux, the flickering occurs more often and affects some larger areas.
Sometimes several scans in a row are affected.

[Samahu]

@Janphr I believe with the last update (ver 0.9.0) included in PR #170 your issue should be resolved. Make sure to use driver.launch instead of sensor.launch to obtain the improved performance.