Cannot record LiDAR(VLP16-HiRes) - device type does not match product ID 0x22

Hello.

I have an issue recording LiDAR(VLP16-HiRes) with Drive software 10.0 on Drive AGX Xavier. There was no problem with VLP-16 model, but I already checked the VLP-16 model, but there was no issue about recording. Here is error msg using simple lidar replay code(./sample_lidar_replay --protocol=lidar.socket --params=device=VELO_VLP16HR,ip=192.168.1.201,port=2368,scan-frequency=25)

Starting my sample application…
[04-11-2020 11:48:13] Platform: Detected DDPX - Tegra A
[04-11-2020 11:48:13] TimeSource: monotonic epoch time offset is 1604453740380675
[04-11-2020 11:48:13] PTP Time is available from NVPPS Driver
[04-11-2020 11:48:13] Platform: number of GPU devices detected 1
[04-11-2020 11:48:13] Platform: currently selected GPU device integrated ID 0
[04-11-2020 11:48:13] SDK: Resource failed to mount from ‘…/data/’: VirtualFileSystem: Failed to mount ‘…/data/[.pak]’
[04-11-2020 11:48:13] SDK: Resources mounted from /usr/local/driveworks-2.2/data/
[04-11-2020 11:48:13] SDK: Create NvMediaDevice
[04-11-2020 11:48:13] SDK: use EGL display as provided
[04-11-2020 11:48:13] TimeSource: monotonic epoch time offset is 1604453740380675
[04-11-2020 11:48:13] PTP Time is available from NVPPS Driver
[04-11-2020 11:48:13] Initialize DriveWorks SDK v2.2.3136
[04-11-2020 11:48:13] Release build with GNU 7.3.1 from heads/buildbrain-branch-0-gca7b4b26e65 against Drive PDK v5.1.6.1
[04-11-2020 11:48:13] SensorFactory::createSensor() -> lidar.socket, device=VELO_VLP16HR,ip=192.168.1.201,port=2368,scan-frequency=25
[04-11-2020 11:48:13] Destination IP address and Horizontal Resolution is used only by OUSTER Lidar
Return Mode is used only by Velodyne Lidar
[04-11-2020 11:48:13] Driveworks exception thrown: DW_FAILURE: DecoderVelodyne::processStatus, device type does not match product ID 0x22

terminate called after throwing an instance of ‘std::runtime_error’
what(): [2020-11-04 11:48:13] DW Error DW_FAILURE executing DW function:
dwSAL_createSensor(&m_lidarSensor, params, m_sal)
at /home/sangjin/cuda-workspace/dw_samples/src/sensors/lidar/lidar_replay/main.cpp:113
Aborted (core dumped)
logout

Any help you could provide would be greatly appreciated.

Dear @bts1009,
Please check the below things.

  • verify in device manual what is the product ID
  • verify if you are receiving the correct product ID in the Lidar packets
  • open LIDAR configuration page to confirm if used IP and port number are correct

Velodyne VLP16-HiRes is not working in DRIVE AGX Xavier with Drive Software 10.0 rev2.

  1. When setting to VELO_VLP16HR or VELO_VLP16, an error about ID 0x22 occurs.

  2. It works normally in the ROS framework.

  3. When connecting with Velodyne VLP16, it was confirmed that it works normally.

Thanks for your prompt reply

We checked whether receiving correct product ID in the LiDAR packets.

Device ID of VLP16-HiRes is 0x24 as shown below.

Dear @bts1009,
Thanks for confirming the product Id. We could reproduce the bug on our side.