Dual Lidar Disconnect Issue on Jetson Orin AGX

Robotics & Edge Computing Jetson & Embedded Systems Jetson Orin Nano
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1

I am experiencing an issue with a dual 2D lidar configuration on my Jetson Orin AGX running ROS Noetic. My mobile robot system uses two RPLIDAR A1 sensors. The problem arises when both lidars are launched simultaneously. When I operate only one lidar, everything works as expected. However, with both connected:

  • Sometimes, both lidars fail to connect.
  • Other times, one lidar connects while the other disconnects.
  • The behavior is inconsistent, with a very low probability that both lidars run concurrently.

For clarity, here are the system specifications:

  • Device: Jetson Orin AGX (64GB)
  • Operating System: Ubuntu 20.04
  • ROS Version: Noetic
  • Lidar Model: RPLIDAR A1

I launch the lidar nodes using the RPLIDAR ROS package, assigning different names and ports to each instance.

Below is a snippet of the error message captured during the issue:

[ INFO] [1740465507.916643166]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.1.0
[ERROR] [1740465510.420369529]: Error, operation time out. RESULT_OPERATION_TIMEOUT!
[lidar1-1] process has died [pid 16125, exit code 255, cmd /home/user/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=lidar1 __log:=/home/user/.ros/log/130e5c6e-f343-11ef-9d92-cc47403f2a45/lidar1-1.log].
log file: /home/user/.ros/log/130e5c6e-f343-11ef-9d92-cc47403f2a45/lidar1-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor…
… shutting down processing monitor complete
done
➜ catkin_ws

Any insights or recommendations on how to resolve this intermittent connection issue would be greatly appreciated.

3

Any error message from the dmesg?

4

No error messages were reported by dmesg. To provide further information I give an error example below, I initiated Lidar 2 prior to Lidar 1. This resulted in Lidar 2 working correctly, but Lidar 1 malfunctioning.

Terminal 1 (dmesg)

[ 9809.326485] usb 1-4.3: new full-speed USB device number 13 using tegra-xusb
[ 9809.435911] usb 1-4.3: New USB device found, idVendor=10c4, idProduct=ea60, bcdDevice= 1.00
[ 9809.435921] usb 1-4.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 9809.435926] usb 1-4.3: Product: CP2102 USB to UART Bridge Controller
[ 9809.435929] usb 1-4.3: Manufacturer: Silicon Labs
[ 9809.435932] usb 1-4.3: SerialNumber: 0001
[ 9809.438892] cp210x 1-4.3:1.0: cp210x converter detected
[ 9809.448366] usb 1-4.3: cp210x converter now attached to ttyUSB1
[ 9811.630397] usb 1-4.4: new full-speed USB device number 14 using tegra-xusb
[ 9811.738797] usb 1-4.4: New USB device found, idVendor=10c4, idProduct=ea60, bcdDevice= 1.00
[ 9811.738807] usb 1-4.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 9811.738812] usb 1-4.4: Product: CP2102 USB to UART Bridge Controller
[ 9811.738815] usb 1-4.4: Manufacturer: Silicon Labs
[ 9811.738818] usb 1-4.4: SerialNumber: 0001
[ 9811.741625] cp210x 1-4.4:1.0: cp210x converter detected
[ 9811.751180] usb 1-4.4: cp210x converter now attached to ttyUSB3

Terminal 2 : Lidar 1

[ INFO] [1740470696.870001823]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.1.0
[ERROR] [1740470699.373389095]: Error, operation time out. RESULT_OPERATION_TIMEOUT! 
[lidar1-1] process has died [pid 31372, exit code 255, cmd /home/itbdelabo/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=lidar1 __log:=/home/itbdelabo/.ros/log/b1c185f0-f345-11ef-9fed-cc47403f2a45/lidar1-1.log].
log file: /home/itbdelabo/.ros/log/b1c185f0-f345-11ef-9fed-cc47403f2a45/lidar1-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete

Terminal 3 : Lidar 2

process[lidar2-1]: started with pid [31339]
[ INFO] [1740470694.023390093]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.1.0
[ INFO] [1740470694.039424166]: RPLIDAR MODE:A1M8
[ INFO] [1740470694.039475401]: RPLIDAR S/N: 87C8ED95C4E493CBA5E69EF016184B6F
[ INFO] [1740470694.039514347]: Firmware Ver: 1.29
[ INFO] [1740470694.039529356]: Hardware Rev: 7
[ INFO] [1740470694.040973817]: RPLidar health status : OK.
[ INFO] [1740470694.282071342]: current scan mode: Sensitivity, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz,
5

Maybe googling RESULT_OPERATION_TIMEOUT for possible solution.

7

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