Drive Orin - External SSD causing packet loss?

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description

I’m currently trying to record lidar data using 3 lidar, 2 being an OS1-64 (Gen1, FW 2.4) and the third being an OS2-128 (Rev C, FW 2.5.3) using two Orin developer kits.

My goal at this time is to be able to simultaneously record and capture lidar data from all three sensors. My current setup is almost seamless in that I can use Orin 1 to record the OS1 data and Orin 2 to record the OS2 data.

However, due to the limited space on the Orins, my goal is to record onto an external SSD instead of on the Orins. I have tried using a Samsung T5 (2TB and 1TB) SSD and a SanDisk Extreme Pro Portable SSD (4TB).

When I only have the OS2 turned on and running with neither of the OS1s turned on, if I record directly onto one of the Orins the recording looks perfect. When I record onto one of the SSDs mentioned, there is always a small portion of the scans that are lost roughly twice a second, making the part of the recording look like it’s “blinking”.

I know that the SSDs should be able to write fast enough since the OS2 only captures roughly 20 MB/s worth of data, and running all 3 lidar is roughly 40 MB/s of data. And I am using the USB-C ports when recording.

Any suggestions would be greatly appreciated!

2

Dear @adas_1,
Could you check the disk write speed using dd command. Are you using recorder tool? Do you see any packet loss message in log?

4

Following this tutorial: Test read/write speed of usb and ssd drives with dd command on Linux - BinaryTides

Samsung T5 write speed = 443 MB/s, read speed = 549 MB/s
SanDiskSSD write speed = 800 MB/s, read speed = ~1.4 GB/s

Yes I am using the recorder tool. Where is this “log” message?

5

Dear @adas_1,
Could you share recorder app console log and used rig.json file?

6

Rig file:
Orin2_OS2_rig.txt (1.2 KB)

Is this recorder app console log some kind of file that’s supposed to be saved when running the record script? Because if so, I don’t think I’ve ever seen a useful log being saved anywhere after recording anything.