Interface between Custom Lidar.so and Drive Orin failed

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 6.0.8.1

Target Operating System
Linux

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)

SDK Manager Version
1.9.3.10904

Host Machine Version
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers

Hi Team,
I am tring to Interface Custom lidar with CGF framework node using dw::framework::dwLidarBatchNode.
I am able to interface it with sample_lidar example from driveworks, but I am not sure what properties have to be added related to the dwLidarBatchNode.

following is the error in the logs,

<11>1 2024-02-05T16:36:43.719186+01:00 - mainClient 5050 - - [1707147394539647us][ERROR][tid:9][dwSensorNodeImpl.hpp:136][dwSensorNodeImpl] [05-02-2024 16:36:43] Failed to get sensor ID for sensor with name ‘’: DW_NOT_AVAILABLE
<11>1 2024-02-05T16:36:43.719767+01:00 - mainClient 5050 - - [1707147394540210us][ERROR][tid:9][Runtime.cpp:394][Runtime] [05-02-2024 16:36:43] Failed to create node instance miniPipeline.lidarSensor.dwLidarBatchNode of type dw::framework::dwLidarBatchNode. Details: 10: src/dwframework/dwnodes/sensors/dwsensornode/impl/dwSensorNodeImpl.hpp:137 DriveWorks Error DW_NOT_AVAILABLE: status
<11>1 2024-02-05T16:36:44.780633+01:00 - mainClient 5050 - - [1707147395601086us][ERROR][tid:rr2_main][TopExecutor.hpp:3504][TopExecutor] [05-02-2024 16:36:44] initSSM: Failed to initialize module with status: DW_NOT_AVAILABLE, error: src/dwframework/dwnodes/sensors/dwsensornode/impl/dwSensorNodeImpl.hpp:137 DriveWorks Error DW_NOT_AVAILABLE: status
<11>1 2024-02-05T16:36:44.781136+01:00 - mainClient 5050 - - [1707147395601593us][ERROR][tid:rr2_main][TopExecutor.hpp:694][TopExecutor] [05-02-2024 16:36:44] [FaultHandler] Caught signal: 6 sent by pid 5050

My app is simillar to minipipeline example.

can you please suggest, please let me know if you need anything?

LogFolder.zip (73.1 KB)
here are the logs.

Best Regards,
Giuseppe

3

Based on the error message, your app is encountering an error due to a null sensor name being passed. I recommend checking the sensor name in your code to ensure it matches the one in the rig file.

5

Hi @VickNV ,

Thanks for the reply,
I am not sure where in the RIG file I have to mention it, since we don’t have any samples of rig file that has lidar as a sensor. Can you please suggest me, I tried to find in the documentation as well but I could not locate it.

Best regards,
Giuseppe

6

Hi @VickNV & @SivaRamaKrishnaNV ,
If possible can you please let me know which documentation to follow? This is blocking for me and seems to be only a configuration issue.

best regards,
Giuseppe

7

Dear @giuseppe.cacace,
Could you confirm if the custom lidar.so is working with DW? If so, how you tested it in DW?

8

Dear @SivaRamaKrishnaNV

yes, it does work with DW sample lidar correctly as expected.

9

Dear @giuseppe.cacace,
/usr/local/driveworks-5.14/data/samples/minipipeline/dataset/rig.json has Lidar sensor entry.
Please share the command/rigfile used to test your lidar in DW.
Please see DriveWorks SDK Reference: Custom Lidars (Decoder Only) as well if it helps.

11

Dear @SivaRamaKrishnaNV,

This is our rig.json file

“rig”: {
“properties”: {
“layout”: “Hyperion 7.0”
},
“vehicleio”: […],
“sensors”: [{
…
},
{
“name”: “lidar:front:center”,
“parameter”: “device=CUSTOM_EX,log_level=DEBUG,ip=our-IP,dip=our-DIP,lidar_port=our-lidar_port,imu_port=our-imu_port,data_dir=ourPathTo/ouster-driveworks-dist-5.12-x86-arm64/ouster-driveworks-dist-5.12-x86-arm64/arm/data,session_id=ourTest-ID,decoder-path=ourPathTo/ouster-driveworks-dist-5.12-x86-arm64/ouster-driveworks-dist-5.12-x86-arm64/arm/lib/libouster_lidar_plugin_arm.so”,
“properties”: null,
“protocol”: “lidar.custom”,
“nominalSensor2Rig_FLU”: {
“roll-pitch-yaw”: [
0.0,
0.0,
-135.0
],
“t”: [
-0.937,
-0.701,
0.499
]
}
}
],
“vehicle”: {… },
“version”: 7
}

And this is the command that we run this script
ourscript.zip (1.3 KB)

let me know.

12

Dear @SivaRamaKrishnaNV @VickNV,
can you please track the issue bellow, here in this issue, Since they are same.

best regards,
Antonio

14

Dear @giuseppe.cacace ,

Did you use DW lidar sample to test your custom lidar? If so, can you please share the used command? Is the above rig.json is used in CGF app?

15

Dear @SivaRamaKrishnaNV ,

please refer script attached here, this script we use to run the DW sample Lidar example.

and yes this is a part of the Rig file related to the Lidar, copy pasted here.

Let me know if you need anything else?

Best Regards,
Giuseppe

16

Dear @SivaRamaKrishnaNV , were you able to locate the issue? A friendly reminder.

Best Regards,
Sushant Bahadure

18

Dear @giuseppe.cacace ,
Could you please share the full rig.json used by the your CGF app?

19

Dear @SivaRamaKrishnaNV

Attached to this message is the full rig.json, as you requested.

Waiting for feedback, thank you.
Kind regards,
Giuseppe

rig file.zip (4.0 KB)

20

Dear @SivaRamaKrishnaNV ,

Do you have any results yet? A friendly reminder.

Best Regards

22

Hi @SivaRamaKrishnaNV, @VickNV

Do we know what could be the issue?? A friendly reminder.

Best regards,
Sushant Bahadure

23

Dear @sushant.bahadure
My apologies for late response. Per feedback from engineering team, we have not tested custom lidars with CGF. It is not supported in my understanding.