sometimes the lifecycle cannot be set activate automatically #83
Comments
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Hi Mark, when this happens what does the following command produce?
ros2 lifecycle get ouster/os_sensor
Thanks
Ussama
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launch file below. I have namespaces, so the ns is right. <group>
<push-ros-namespace namespace="top"/>
<arg name="ouster_ns" default="ouster"
description="Override the default namespace of all ouster nodes"/>
<arg name="sensor_hostname" default="192.168.1.120"
description="hostname or IP in dotted decimal form of the sensor"/>
<arg name="udp_dest" default=""
description="hostname or IP where the sensor will send data packets"/>
<arg name="lidar_port" default="0"
description="port to which the sensor should send lidar data"/>
<arg name="imu_port" default="0"
description="port to which the sensor should send imu data"/>
<arg name="udp_profile_lidar" default=""
description="lidar packet profile; possible values: {
LEGACY,
RNG19_RFL8_SIG16_NIR16_DUAL,
RNG19_RFL8_SIG16_NIR16,
RNG15_RFL8_NIR8
}"/>
<arg name="lidar_mode" default=""
description="resolution and rate; possible values: {
512x10,
512x20,
1024x10,
1024x20,
2048x10,
4096x5
}"/>
<arg name="timestamp_mode" default="TIME_FROM_ROS_TIME"
description="method used to timestamp measurements; possible values: {
TIME_FROM_INTERNAL_OSC,
TIME_FROM_SYNC_PULSE_IN,
TIME_FROM_PTP_1588,
TIME_FROM_ROS_TIME
}"/>
<arg name="metadata" default=""
description="path to write metadata file when receiving sensor data"/>
<arg name="tf_prefix" default="" description="namespace for tf transforms"/>
<group>
<push-ros-namespace namespace="$(var ouster_ns)"/>
<node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterSensor" name="os_sensor">
<param name="sensor_hostname" value="$(var sensor_hostname)"/>
<param name="udp_dest" value="$(var udp_dest)"/>
<param name="lidar_port" value="$(var lidar_port)"/>
<param name="imu_port" value="$(var imu_port)"/>
<param name="udp_profile_lidar" value="$(var udp_profile_lidar)"/>
<param name="lidar_mode" value="$(var lidar_mode)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="metadata" value="$(var metadata)"/>
</composable_node>
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
<param name="tf_prefix" value="$(var tf_prefix)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
</composable_node>
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
</node_container>
</group>
<!-- HACK: configure and activate the sensor node via a process execute since state
transition is currently not availabe through launch.xml format -->
<executable cmd="$(find-exec ros2) lifecycle set sensing/lidar/top/$(var ouster_ns)/os_sensor configure"
launch-prefix="bash -c 'sleep 0; $0 $@'" output="screen"/>
<executable cmd="$(find-exec ros2) lifecycle set sensing/lidar/top/$(var ouster_ns)/os_sensor activate"
launch-prefix="bash -c 'sleep 1; $0 $@'" output="screen"/>
</group> |
I got |
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Sometimes I got |
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You could try switching to the python based launch files and see if this works better for you: ros2 launch ouster_ros sensor.independent.launch.py param_files:=<path-to-your-param-files>or ros2 launch ouster_ros sensor.composite.launch.py param_files:=<path-to-your-param-files> |
Thanks, I will try. |
What do you mean? I am not sure that I quite understood your question? You would have to cycle through the node states till you reach the active(activated) state. That's what all launch files are doing automatically for you. The issue you are facing is that launch.xml files don't have a mechanism to do transition when it is approprite, the py launch files do have this ability, but they are a departure from what our users currently depend on and I haven't tested them thoroughly but they should work. Let me know if these launch files work better for you than the launch.xml files. |
Following up on this issue, did you get to out the two launch files?
All the launch files do activate the lifecycle automatically, however, the python based launch are event based while xml ones don't have this feature and the state change is requested after a delay |
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Hi, I think I'm facing the same issue. Sometimes automatic transitions don't work which cause os_sensor to stay in "unconfigured" mode. I use ROS2 Humble with Ubuntu 22. The issue seems to appear with .py launch files only. I think It occurs about 1 out of 10 launches of the driver. Here is what is shown in the console: |
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@Andre-ex9 thanks for reporting your experience we may have a fix soon, so stay tuned. |
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This has been addressed by the #146. If you use the default
Please try it out and let me know if we can close this issue. |
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@ahuazuipiaoliang or @Andre-ex9 any chance that you have tried the updated driver? If I don't hear back on the issue within this week I am going to mark this this ticket as done. Please let me know of the update described in my previous comment has helped mitigate the problem. |
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Closing the issue due to inactivity, feel free to re-open if the issue is still present. |
Describe the bug
When I launch the ros2 driver, I cannot get pointcloud msgs or IMU msgs, then I have to activate the lifecycle manually by typing
ros2 lifecycle set ouster/os_sensor activate.I've seen the driver executes the command above, but it has no effect.
software version: fd76cc9hardware: OS-1-32-U2firmware:Platform (please complete the following information):
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