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    ROS自动驾驶 雷达检测不到求助

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    • gemtdreborn
      gemtdreborn 最后由 编辑

      我现在在做自动驾驶相关方面的工作，之前代码都可以跑，但突然有一天说lidar node is dead，试了很多方法都无效，下面是日志，有大佬知道怎么解决吗？万分感谢！

      uiuc@uiuc-pacifica:~$ roslaunch sensor_demo uiuc_pacifica1.launch
      … logging to /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/roslaunch-uiuc-pacifica-2943.log
      Checking log directory for disk usage. This may take a while.
      Press Ctrl-C to interrupt
      Done checking log file disk usage. Usage is <1GB.

      started roslaunch server http://uiuc-pacifica:39725/

      SUMMARY

      PARAMETERS

      • /forward_camera/gst2ros/camera_info_pkg: sensor_demo
      • /forward_camera/gst2ros/camera_info_yaml: camera_intrinsics…
      • /forward_camera/gst2ros/frame_id: forward_camera
      • /forward_camera/gst2ros/image_topic: image
      • /forward_camera/gst2ros/pipeline: aravissrc camera-…
      • /front_left_camera/gst2ros/camera_info_pkg: sensor_demo
      • /front_left_camera/gst2ros/camera_info_yaml: camera_intrinsics…
      • /front_left_camera/gst2ros/frame_id: front_left_camera
      • /front_left_camera/gst2ros/image_topic: image
      • /front_left_camera/gst2ros/pipeline: aravissrc camera-…
      • /front_lidar/cloud_node/frame_id: front_lidar
      • /front_lidar/driver_node/metadata: /home/uiuc/catkin…
      • /front_lidar/driver_node/replay: False
      • /front_lidar/driver_node/sensor_hostname: os-122139001039.l…
      • /front_lidar/driver_node/timestamp_mode: TIME_FROM_INTERNA…
      • /front_right_camera/gst2ros/camera_info_pkg: sensor_demo
      • /front_right_camera/gst2ros/camera_info_yaml: camera_intrinsics…
      • /front_right_camera/gst2ros/frame_id: front_right_camera
      • /front_right_camera/gst2ros/image_topic: image
      • /front_right_camera/gst2ros/pipeline: aravissrc camera-…
      • /gps_node/frame_id_gps: gps
      • /gps_node/frame_id_odom: base_footprint
      • /gps_node/frame_id_vel: enu
      • /gps_node/interface:
      • /gps_node/ip_address:
      • /gps_node/port: 3000
      • /radar/backward_facing: False
      • /radar/radar_id: 0
      • /radar/radar_name: radar
      • /radar/send_speed: True
      • /radar/socketcan/can_device: can1
      • /radar/socketcan/fatal_error_mask/CAN_ERR_BUSERROR: 0
      • /radar/socketcan/fatal_error_mask/CAN_ERR_RESTARTED: 0
      • /radar/socketcan/fatal_error_mask/CAN_ERR_TX_TIMEOUT: 0
      • /rear_left_camera/gst2ros/camera_info_pkg: sensor_demo
      • /rear_left_camera/gst2ros/camera_info_yaml: camera_intrinsics…
      • /rear_left_camera/gst2ros/frame_id: rear_left_camera
      • /rear_left_camera/gst2ros/image_topic: image
      • /rear_left_camera/gst2ros/pipeline: aravissrc camera-…
      • /rear_left_lidar/cloud_node/frame_id: rear_left_lidar
      • /rear_left_lidar/driver_node/metadata: /home/uiuc/catkin…
      • /rear_left_lidar/driver_node/replay: False
      • /rear_left_lidar/driver_node/sensor_hostname: os-122142001045.l…
      • /rear_left_lidar/driver_node/timestamp_mode: TIME_FROM_INTERNA…
      • /rear_right_camera/gst2ros/camera_info_pkg: sensor_demo
      • /rear_right_camera/gst2ros/camera_info_yaml: camera_intrinsics…
      • /rear_right_camera/gst2ros/frame_id: rear_right_camera
      • /rear_right_camera/gst2ros/image_topic: image
      • /rear_right_camera/gst2ros/pipeline: aravissrc camera-…
      • /rear_right_lidar/cloud_node/frame_id: rear_right_lidar
      • /rear_right_lidar/driver_node/metadata: /home/uiuc/catkin…
      • /rear_right_lidar/driver_node/replay: False
      • /rear_right_lidar/driver_node/sensor_hostname: os-122128000279.l…
      • /rear_right_lidar/driver_node/timestamp_mode: TIME_FROM_INTERNA…
      • /robot_description: <?xml version="1…
      • /rosdistro: melodic
      • /rosversion: 1.14.13
      • /vehicle/dbw_node/ackermann_wheelbase: 3.08
      • /vehicle/dbw_node/buttons: True
      • /vehicle/dbw_node/frame_id: base_footprint
      • /vehicle/dbw_node/pedal_luts: False
      • /vehicle/dbw_node/steering_ratio: 16.2
      • /vehicle/dbw_node/warn_cmds: True
      • /vehicle/usb_can/bitrate_1: 0
      • /vehicle/usb_can/bitrate_2: 0
      • /vehicle/usb_can/bitrate_3: 500000
      • /vehicle/usb_can/bitrate_4: 0

      NODES
      /
      gps_node (oxford_gps_eth/gps_node)
      robot_state_publisher (robot_state_publisher/robot_state_publisher)
      /forward_camera/
      camera_nodelet_manager (nodelet/nodelet)
      gst2ros (nodelet/nodelet)
      image_proc_rectify (nodelet/nodelet)
      /front_left_camera/
      camera_nodelet_manager (nodelet/nodelet)
      gst2ros (nodelet/nodelet)
      image_proc_rectify (nodelet/nodelet)
      /front_lidar/
      cloud_node (ouster_ros/os_cloud_node)
      driver_node (ouster_ros/os_node)
      /front_right_camera/
      camera_nodelet_manager (nodelet/nodelet)
      gst2ros (nodelet/nodelet)
      image_proc_rectify (nodelet/nodelet)
      /radar/
      conti_radar_node (conti_radar_can/conti_radar_node)
      socketcan (socketcan_bridge/socketcan_bridge_node)
      /rear_left_camera/
      camera_nodelet_manager (nodelet/nodelet)
      gst2ros (nodelet/nodelet)
      image_proc_rectify (nodelet/nodelet)
      /rear_left_lidar/
      cloud_node (ouster_ros/os_cloud_node)
      driver_node (ouster_ros/os_node)
      /rear_right_camera/
      camera_nodelet_manager (nodelet/nodelet)
      gst2ros (nodelet/nodelet)
      image_proc_rectify (nodelet/nodelet)
      /rear_right_lidar/
      cloud_node (ouster_ros/os_cloud_node)
      driver_node (ouster_ros/os_node)
      /vehicle/
      dbw_node (dbw_fca_can/dbw_node)
      ulc_node (dataspeed_ulc_can/ulc_node)
      usb_can (dataspeed_can_usb/can_node)

      ROS_MASTER_URI=http://uiuc-pacifica:11311

      process[vehicle/usb_can-1]: started with pid [3031]
      process[vehicle/dbw_node-2]: started with pid [3032]
      ERROR: cannot launch node of type [dataspeed_ulc_can/ulc_node]: Cannot locate node of type [ulc_node] in package [dataspeed_ulc_can]. Make sure file exists in package path and permission is set to executable (chmod +x)
      process[front_lidar/driver_node-4]: started with pid [3033]
      process[front_lidar/cloud_node-5]: started with pid [3034]
      process[rear_left_lidar/driver_node-6]: started with pid [3035]
      process[rear_left_lidar/cloud_node-7]: started with pid [3045]
      process[rear_right_lidar/driver_node-8]: started with pid [3056]
      process[rear_right_lidar/cloud_node-9]: started with pid [3063]
      process[gps_node-10]: started with pid [3068]
      [ INFO] [1724859339.691962772]: Client version: 0.2.1+225d200-release
      process[radar/conti_radar_node-11]: started with pid [3075]
      [ INFO] [1724859339.698093031]: Using automatic UDP destination
      [ INFO] [1724859339.698114860]: Waiting for sensor os-122139001039.local to initialize …
      [ INFO] [1724859339.698451430]: Client version: 0.2.1+225d200-release
      process[radar/socketcan-12]: started with pid [3080]
      [ INFO] [1724859339.703668882]: Using automatic UDP destination
      [ INFO] [1724859339.703686285]: Waiting for sensor os-122142001045.local to initialize …
      process[forward_camera/camera_nodelet_manager-13]: started with pid [3087]
      dataspeed_lm: License found for feature ‘conti_radar_driver’
      process[forward_camera/gst2ros-14]: started with pid [3089]
      process[forward_camera/image_proc_rectify-15]: started with pid [3096]
      [ INFO] [1724859339.718184384]: Client version: 0.2.1+225d200-release
      process[front_right_camera/camera_nodelet_manager-16]: started with pid [3101]
      [ INFO] [1724859339.719924798]: Preparing to listen on port 3000
      [ INFO] [1724859339.721712109]: Using automatic UDP destination
      [ INFO] [1724859339.721737429]: Waiting for sensor os-122128000279.local to initialize …
      process[front_right_camera/gst2ros-17]: started with pid [3106]
      process[front_right_camera/image_proc_rectify-18]: started with pid [3109]
      process[rear_left_camera/camera_nodelet_manager-19]: started with pid [3116]
      [ INFO] [1724859339.737605654]: Successfully connected to can1.
      process[rear_left_camera/gst2ros-20]: started with pid [3122]
      process[rear_left_camera/image_proc_rectify-21]: started with pid [3131]
      process[front_left_camera/camera_nodelet_manager-22]: started with pid [3134]
      process[front_left_camera/gst2ros-23]: started with pid [3148]
      process[front_left_camera/image_proc_rectify-24]: started with pid [3151]
      process[rear_right_camera/camera_nodelet_manager-25]: started with pid [3157]
      process[rear_right_camera/gst2ros-26]: started with pid [3159]
      process[rear_right_camera/image_proc_rectify-27]: started with pid [3167]
      process[robot_state_publisher-28]: started with pid [3169]
      [ INFO] [1724859339.781833279]: Initializing nodelet with 16 worker threads.
      [ INFO] [1724859339.789962395]: Initializing nodelet with 16 worker threads.
      [ INFO] [1724859339.801042869]: Initializing nodelet with 16 worker threads.
      [ INFO] [1724859339.833060616]: Initializing nodelet with 16 worker threads.
      [ INFO] [1724859339.837819005]: Initializing nodelet with 16 worker threads.
      dataspeed_lm: License found for feature ‘ds_video’
      [ INFO] [1724859339.849355645]: GStreamerROSNodelet initializing.
      dataspeed_lm: License found for feature ‘ds_video’
      [ INFO] [1724859339.858801116]: GStreamerROSNodelet initializing.
      dataspeed_lm: License found for feature ‘ds_video’
      [ INFO] [1724859339.865585930]: GStreamerROSNodelet initializing.
      dataspeed_lm: License found for feature ‘ds_video’
      [ INFO] [1724859339.872737394]: GStreamerROSNodelet initializing.
      [ INFO] [1724859339.899868542]: Dataspeed USB CAN Tool: version 10.4.0-1
      [ INFO] [1724859339.900647735]: Dataspeed USB CAN Tool: MAC address 80:1f:12:97:58:7e
      [ INFO] [1724859339.900793842]: Dataspeed USB CAN Tool: Ch1 0kbps
      [ INFO] [1724859339.900933529]: Dataspeed USB CAN Tool: Ch2 0kbps
      [ INFO] [1724859339.901243138]: Dataspeed USB CAN Tool: Ch3 500kbps
      [ INFO] [1724859339.901388045]: Dataspeed USB CAN Tool: Ch4 0kbps
      [ INFO] [1724859340.171116855]: Licensing: Waiting for required info…
      dataspeed_lm: License found for feature ‘ds_video’
      [ INFO] [1724859340.232073033]: GStreamerROSNodelet initializing.
      [ INFO] [1724859340.270741798]: Licensing: Waiting for VIN…
      [ INFO] [1724859340.638822319]: Detected FCA_RU BPEC firmware version 1.5.1
      [ INFO] [1724859340.739563598]: Detected FCA_RU TPEC firmware version 1.5.1
      [ INFO] [1724859340.838969184]: Detected FCA_RU STEER firmware version 1.6.2
      [ INFO] [1724859340.939126775]: Detected FCA_RU SHIFT firmware version 1.6.2

      (nodelet:3116): Aravis-CRITICAL **: 10:35:41.230: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:41.230: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:41.230: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:41.230: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:41.230: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:41.230: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:41.230: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:41.231: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:41.231: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:41.231: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:41.231: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:41.253: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:41.253: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:41.253: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:41.253: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:41.253: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:41.253: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed
      [ INFO] [1724859341.295374278]: Synchronizing clocks
      [ INFO] [1724859341.295378509]: Synchronizing clocks
      [ INFO] [1724859341.295383410]: Synchronizing clocks
      [ INFO] [1724859341.295636154]: Setting up source probes and connections.
      [ INFO] [1724859341.295638022]: Setting up source probes and connections.
      [ INFO] [1724859341.295685195]: Setting up source probes and connections.
      [ INFO] [1724859341.295857876]: Synchronizing clocks
      [ INFO] [1724859341.295871707]: Setting up source probes and connections.
      [ INFO] [1724859341.295912520]: Setting up source probes and connections.
      [ INFO] [1724859341.295979423]: Setting up source probes and connections.
      [ INFO] [1724859341.295994944]: Adding timestamp metadata probe to source ‘aravis0’.
      [ INFO] [1724859341.296068409]: Setting up Ros Subscribers
      [ INFO] [1724859341.296080629]: Adding timestamp metadata probe to source ‘aravis0’.
      [ INFO] [1724859341.296111465]: ROS subscribers ready.
      [ INFO] [1724859341.296145066]: Adding timestamp metadata probe to source ‘aravis0’.
      [ INFO] [1724859341.296176761]: Setting up source probes and connections.
      [ INFO] [1724859341.296197807]: Setting up Ros Subscribers
      [ INFO] [1724859341.296257739]: Setting up Ros Subscribers
      [ INFO] [1724859341.296271822]: ROS subscribers ready.
      [ INFO] [1724859341.296334307]: ROS subscribers ready.
      [ INFO] [1724859341.296523334]: Setting up source probes and connections.
      [ INFO] [1724859341.296676829]: Adding timestamp metadata probe to source ‘aravis0’.
      [ INFO] [1724859341.296782434]: Setting up Ros Subscribers
      [ INFO] [1724859341.296844865]: ROS subscribers ready.
      [ INFO] [1724859341.300673207]: Synchronizing clocks
      [ INFO] [1724859341.301012367]: Setting up source probes and connections.
      [ INFO] [1724859341.301355352]: Setting up source probes and connections.
      [ INFO] [1724859341.301505833]: Adding timestamp metadata probe to source ‘aravis0’.
      [ INFO] [1724859341.301612907]: Setting up Ros Subscribers
      [ INFO] [1724859341.301656742]: ROS subscribers ready.
      [ INFO] [1724859341.722845371]: Licensing: TPEC firmware build date: 2022/03/08
      [ INFO] [1724859342.173431450]: Licensing: BPEC firmware build date: 2022/03/08
      [ INFO] [1724859342.273545752]: Licensing: STEER MAC: 54:10:EC:85:79:32

      (nodelet:3157): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:42.299: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3157): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:42.299: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:42.299: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:42.299: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed
      [ INFO] [1724859342.299730551]: Ready to pre-roll.

      (nodelet:3134): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3116): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3087): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:42.299: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed
      [ INFO] [1724859342.300178185]: Ready to pre-roll.
      [ INFO] [1724859342.300279345]: Ready to pre-roll.
      [ INFO] [1724859342.300279353]: Ready to pre-roll.

      (nodelet:3157): Aravis-CRITICAL **: 10:35:42.300: arv_stream_timeout_pop_buffer: assertion ‘ARV_IS_STREAM (stream)’ failed
      [ERROR] [1724859342.300616889]: Failed to PLAY during preroll.
      [FATAL] [1724859342.300745160]: GStreamer failed to start.

      (nodelet:3116): Aravis-CRITICAL **: 10:35:42.300: arv_stream_timeout_pop_buffer: assertion ‘ARV_IS_STREAM (stream)’ failed

      (nodelet:3134): Aravis-CRITICAL **: 10:35:42.300: arv_stream_timeout_pop_buffer: assertion ‘ARV_IS_STREAM (stream)’ failed
      [ERROR] [1724859342.301015223]: Failed to PLAY during preroll.

      (nodelet:3087): Aravis-CRITICAL **: 10:35:42.301: arv_stream_timeout_pop_buffer: assertion ‘ARV_IS_STREAM (stream)’ failed
      [FATAL] [1724859342.301103001]: GStreamer failed to start.
      [ERROR] [1724859342.301103931]: Failed to PLAY during preroll.
      [FATAL] [1724859342.301201187]: GStreamer failed to start.
      [ERROR] [1724859342.301387549]: Failed to PLAY during preroll.
      [FATAL] [1724859342.301507200]: GStreamer failed to start.

      (nodelet:3101): Aravis-CRITICAL **: 10:35:42.304: arv_camera_get_gain: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:42.304: arv_camera_is_gain_available: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:42.304: arv_camera_get_exposure_time: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:42.304: arv_camera_get_exposure_time_auto: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:42.304: arv_camera_get_region: assertion ‘ARV_IS_CAMERA (camera)’ failed

      (nodelet:3101): Aravis-CRITICAL **: 10:35:42.304: arv_camera_get_binning: assertion ‘ARV_IS_CAMERA (camera)’ failed
      [ INFO] [1724859342.305017107]: Ready to pre-roll.

      (nodelet:3101): Aravis-CRITICAL : 10:35:42.305: arv_stream_timeout_pop_buffer: assertion ‘ARV_IS_STREAM (stream)’ failed
      [ERROR] [1724859342.306113756]: Failed to PLAY during preroll.
      [FATAL] [1724859342.306236195]: GStreamer failed to start.
      [ INFO] [1724859342.323304516]: Licensing: SHIFT firmware build date: 2023/09/13
      [ INFO] [1724859343.275541851]: Licensing: STEER firmware build date: 2023/09/13
      cfg getaddrinfo(): Name or service not known
      [ERROR] [1724859344.699432029]: Failed to initialize sensor at: os-122139001039.local
      [ERROR] [1724859344.701470490]: Calling config service failed
      cfg getaddrinfo(): Name or service not known
      [ERROR] [1724859344.704550692]: Failed to initialize sensor at: os-122142001045.local
      [ERROR] [1724859344.706250577]: Calling config service failed
      cfg getaddrinfo(): Name or service not known
      [ERROR] [1724859344.722773885]: Failed to initialize sensor at: os-122128000279.local
      [ERROR] [1724859344.724640773]: Calling config service failed
      [front_lidar/driver_node-4] process has died [pid 3033, exit code 1, cmd /home/uiuc/catkin_ws/devel/lib/ouster_ros/os_node __name:=driver_node __log:=/home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/front_lidar-driver_node-4.log].
      log file: /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/front_lidar-driver_node-4      .log
      [front_lidar/cloud_node-5] process has died [pid 3034, exit code 1, cmd /home/uiuc/catkin_ws/devel/lib/ouster_ros/os_cloud_node __name:=cloud_node __log:=/home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/front_lidar-cloud_node-5.log].
      log file: /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/front_lidar-cloud_node-5      .log
      [rear_left_lidar/driver_node-6] process has died [pid 3035, exit code 1, cmd /home/uiuc/catkin_ws/devel/lib/ouster_ros/os_node __name:=driver_node __log:=/home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_left_lidar-driver_node-6.log].
      log file: /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_left_lidar-driver_node-6*.log
      [rear_left_lidar/cloud_node-7] process has died [pid 3045, exit code 1, cmd /home/uiuc/catkin_ws/devel/lib/ouster_ros/os_cloud_node __name:=cloud_node __log:=/home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_left_lidar-cloud_node-7.log].
      log file: /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_left_lidar-cloud_node-7*.log
      [rear_right_lidar/driver_node-8] process has died [pid 3056, exit code 1, cmd /home/uiuc/catkin_ws/devel/lib/ouster_ros/os_node __name:=driver_node __log:=/home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_right_lidar-driver_node-8.log].
      log file: /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_right_lidar-driver_node-8*.log
      [rear_right_lidar/cloud_node-9] process has died [pid 3063, exit code 1, cmd /home/uiuc/catkin_ws/devel/lib/ouster_ros/os_cloud_node __name:=cloud_node __log:=/home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_right_lidar-cloud_node-9.log].
      log file: /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/rear_right_lidar-cloud_node-9*.log
      [ INFO] [1724859350.183320435]: Licensing: Waiting for required info…
      [ INFO] [1724859350.282683267]: Licensing: Waiting for VIN…
      [ INFO] [1724859360.191066887]: Licensing: Waiting for required info…
      [ INFO] [1724859360.290753144]: Licensing: Waiting for VIN…
      [ INFO] [1724859370.195879173]: Licensing: Waiting for required info…
      [ INFO] [1724859370.295188353]: Licensing: Waiting for VIN…
      [ INFO] [1724859380.196919153]: Licensing: Waiting for required info…
      [ INFO] [1724859380.297120404]: Licensing: Waiting for VIN…
      [ INFO] [1724859390.243936070]: Licensing: Waiting for required info…
      [ INFO] [1724859390.794894194]: Licensing: Waiting for VIN…
      [ INFO] [1724859400.341879786]: Licensing: Waiting for required info…
      [ INFO] [1724859401.291485068]: Licensing: Waiting for VIN…
      [ INFO] [1724859410.686444662]: Licensing: Waiting for required info…
      [ INFO] [1724859411.786106471]: Licensing: Waiting for VIN…
      [ INFO] [1724859420.728072696]: Licensing: Waiting for required info…
      [ INFO] [1724859422.277474052]: Licensing: Waiting for VIN…
      [ INFO] [1724859430.815516409]: Licensing: Waiting for required info…
      [ INFO] [1724859432.765321557]: Licensing: Waiting for VIN…
      [ INFO] [1724859441.150915313]: Licensing: Waiting for required info…
      [ INFO] [1724859443.249952765]: Licensing: Waiting for VIN…
      [ INFO] [1724859451.186420691]: Licensing: Waiting for required info…
      [ INFO] [1724859453.733518329]: Licensing: Waiting for VIN…
      [ INFO] [1724859461.269464815]: Licensing: Waiting for required info…
      [ INFO] [1724859464.213160256]: Licensing: Waiting for VIN…
      [ INFO] [1724859471.613425745]: Licensing: Waiting for required info…
      [ INFO] [1724859474.711772254]: Licensing: Waiting for VIN…
      [ INFO] [1724859481.623444345]: Licensing: Waiting for required info…
      [ INFO] [1724859484.728630162]: Licensing: Waiting for VIN…
      [ INFO] [1724859491.636656549]: Licensing: Waiting for required info…
      [ INFO] [1724859494.741332165]: Licensing: Waiting for VIN…
      ^A^A[ INFO] [1724859501.646321709]: Licensing: Waiting for required info…

      小助理 1 条回复 最后回复 回复 引用 0
      • 小助理
        小助理 @gemtdreborn 最后由 编辑

        根据您提供的日志信息，您遇到的问题主要集中在激光雷达（LiDAR）节点无法正常启动。具体来说，问题包括但不限于：

        • Aravis 相关的断言失败：这表明 Aravis 库（用于与相机设备交互）可能无法正确初始化相机。
        • GStreamer 启动失败：GStreamer 是一个用于流媒体处理的库，它在这里被用来处理来自相机的数据。GStreamer 无法启动可能意味着数据流存在问题。
        • 传感器初始化失败：由于无法解析 IP 地址，导致传感器无法初始化。

        解决方案建议

        1. 检查 Aravis 库版本和兼容性

        确保您的 Aravis 库是最新的，并且与您的操作系统和其他依赖项兼容。您可以尝试更新 Aravis 库并重新编译相关节点。

        sudo apt-get update
sudo apt-get install --only-upgrade libaravis-dev

        然后重新编译您的项目。

        2. 检查相机连接

        确保所有相机设备已正确连接并且能够被系统识别。您可以通过 lsusb 命令检查设备是否被系统识别。

        3. 检查网络配置

        从日志中可以看出，存在 getaddrinfo(): Name or service not known 错误，这表明您的系统无法解析激光雷达的主机名。请检查您的 /etc/hosts 文件是否包含了正确的条目以解析激光雷达的主机名。

        编辑 /etc/hosts 文件，添加如下行：

           os-122139001039.local
   os-122142001045.local
   os-122128000279.local

        其中 `` 是您激光雷达的实际 IP 地址。

        4. 检查激光雷达配置

        确保激光雷达的 IP 地址配置正确，并且与您的计算机在同一网络内。您可以使用 ping 命令检查网络连接：

        ping os-122139001039.local
ping os-122142001045.local
ping os-122128000279.local

        如果无法 ping 通，说明网络连接有问题。

        5. 检查日志文件

        查看具体的日志文件（如 /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/front_lidar-driver_node-4.log），可能会提供更多关于问题原因的信息。

        6. 重新启动激光雷达

        有时候，简单地重新启动激光雷达也可能解决问题。尝试关闭激光雷达电源，等待几分钟后再重新打开。

        希望以上建议能帮助您解决问题。如果您还有其他疑问或需要进一步的帮助，请随时告诉我。

        我是论坛智能小助理，回答的问题可能是错误的。对于一些可能影响设备的关键问题，请谨慎参考我的回答

        gemtdreborn 1 条回复 最后回复 回复 引用 0
        • gemtdreborn
          gemtdreborn @小助理 最后由 编辑

          @小助理 谢谢您的回复，我有个疑问，因为之前是一直可以连接到雷达的，但有一次我们update 了firmware，后面就连接不上了。我看到日志里有：
          [ INFO] [1724859343.275541851]: Licensing: STEER firmware build date: 2023/09/13
          cfg getaddrinfo(): Name or service not known

          这一行，请问是因为update 了firmware才导致了错误吗

          小助理 1 条回复 最后回复 回复 引用 0
          • 小助理
            小助理 @gemtdreborn 最后由 编辑

            从您提供的日志来看，确实有可能是更新固件（firmware）导致了连接问题。具体来说，cfg getaddrinfo(): Name or service not known 表示系统无法解析激光雷达的主机名，这通常与网络配置有关。而 Licensing: STEER firmware build date: 2023/09/13 显示了固件的构建日期，这表明您的固件版本是最近更新过的。

            以下是几个可能的原因和解决方法：

            1. 检查网络配置

            更新固件后，激光雷达的网络配置可能发生了变化。请确认以下几点：

            • IP 地址：确保激光雷达的 IP 地址没有改变。您可以通过激光雷达的管理界面或命令行工具查询当前的 IP 地址。
            • 主机名：确保激光雷达的主机名没有改变。如果主机名改变了，请相应地更新 /etc/hosts 文件。

            2. 更新 /etc/hosts 文件

            确保 /etc/hosts 文件中包含正确的条目来解析激光雷达的主机名。您可以按照以下步骤操作：

            1. 打开终端。
            2. 使用文本编辑器编辑 /etc/hosts 文件：
              sudo nano /etc/hosts
            3. 添加或更新以下条目（替换 `` 为实际的 IP 地址）：
               os-122139001039.local
 os-122142001045.local
 os-122128000279.local
            4. 保存并退出编辑器。

            3. 检查网络连接

            确保您的计算机和激光雷达之间的网络连接正常。您可以尝试以下命令来检查网络连接：

            ping os-122139001039.local
ping os-122142001045.local
ping os-122128000279.local

            如果无法 ping 通，请检查网络配置或联系网络管理员。

            4. 检查激光雷达的固件版本

            确保激光雷达的固件版本与您的 ROS 节点兼容。您可以尝试以下步骤来获取激光雷达的固件版本：

            1. 登录激光雷达的管理界面（通常可以通过 Web 浏览器访问）。
            2. 查看固件版本信息。
            3. 确认固件版本与 ROS 节点的兼容性。

            5. 检查日志文件

            查看具体的日志文件（如 /home/uiuc/.ros/log/254ded82-6553-11ef-93bc-0242e34281bb/front_lidar-driver_node-4.log），可能会提供更多关于问题原因的信息。

            6. 重新启动激光雷达

            有时候，简单地重新启动激光雷达也可能解决问题。尝试关闭激光雷达电源，等待几分钟后再重新打开。

            7. 回滚固件版本

            如果以上方法都无法解决问题，您可以考虑回滚到之前的固件版本，看看问题是否解决。您可以联系激光雷达制造商获取旧版本的固件并进行回滚。

            希望这些步骤能帮助您解决问题。如果有任何进一步的问题，请随时告诉我。

            我是论坛智能小助理，回答的问题可能是错误的。对于一些可能影响设备的关键问题，请谨慎参考我的回答

            1 条回复 最后回复 回复 引用 0
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