# Interface between Custom Lidar.so and Drive Orin failed **URL:** \ **Category:** DRIVE AGX Orin General\ **Tags:** driveworks-cgf\ **Created:** [February 6, 2024, 4:59pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032 "2024-02-06T16:59:17Z")\ **Posts on this page:** 18\ **Page:** 1
**Author:** ![giuseppe.cacace](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@giuseppe.cacace](https://forums.developer.nvidia.com/u/giuseppe.cacace)\ **Post date:** [February 6, 2024, 4:59pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/1 "2024-02-06T16:59:17Z")
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](https://forums.developer.nvidia.com/uploads/short-url/8h5GWp7qokXSEPOgCgMfqojrGe8.zip) (73.1 KB) here are the logs. Best Regards, Giuseppe ---
**Author:** ![VickNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vicknv/32/14043_2.png) [@VickNV](https://forums.developer.nvidia.com/u/VickNV)\ **Post date:** [February 6, 2024, 11:39pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/3 "2024-02-06T23:39:44Z")
> [@giuseppe.cacace](#): > > [dwSensorNodeImpl.hpp:136][dwSensorNodeImpl] [05-02-2024 16:36:43] Failed to get sensor ID for sensor with name ‘’: DW\_NOT\_AVAILABLE 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. ---
**Author:** ![giuseppe.cacace](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@giuseppe.cacace](https://forums.developer.nvidia.com/u/giuseppe.cacace)\ **Post date:** [February 7, 2024, 8:50am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/5 "2024-02-07T08:50:19Z")
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 ---
**Author:** ![giuseppe.cacace](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@giuseppe.cacace](https://forums.developer.nvidia.com/u/giuseppe.cacace)\ **Post date:** [February 9, 2024, 10:57am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/6 "2024-02-09T10:57:59Z")
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 ---
**Author:** ![SivaRamaKrishnaNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/sivaramakrishnanv/32/14043_2.png) [@SivaRamaKrishnaNV](https://forums.developer.nvidia.com/u/SivaRamaKrishnaNV)\ **Post date:** [February 9, 2024, 4:00pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/7 "2024-02-09T16:00:49Z")
Dear @giuseppe.cacace, Could you confirm if the custom lidar.so is working with DW? If so, how you tested it in DW? ---
**Author:** ![giuseppe.cacace](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@giuseppe.cacace](https://forums.developer.nvidia.com/u/giuseppe.cacace)\ **Post date:** [February 9, 2024, 4:07pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/8 "2024-02-09T16:07:52Z")
Dear @SivaRamaKrishnaNV yes, it does work with DW sample lidar correctly as expected. ---
**Author:** ![SivaRamaKrishnaNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/sivaramakrishnanv/32/14043_2.png) [@SivaRamaKrishnaNV](https://forums.developer.nvidia.com/u/SivaRamaKrishnaNV)\ **Post date:** [February 9, 2024, 5:41pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/9 "2024-02-09T17:41:10Z")
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)](https://developer.nvidia.com/docs/drive/drive-os/6.0.8.1/public/driveworks-nvsdk/nvsdk_dw_html/sensorplugins_lidardecoder.html#plugin_lidarDataAcquisition) as well if it helps. ---
**Author:** ![giuseppe.cacace](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@giuseppe.cacace](https://forums.developer.nvidia.com/u/giuseppe.cacace)\ **Post date:** [February 13, 2024, 1:52pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/11 "2024-02-13T13:52:44Z")
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](https://forums.developer.nvidia.com/uploads/short-url/gjLbbYZ6wjwdGE2Xzh6BJIXmNlo.zip) (1.3 KB) let me know. ---
**Author:** ![antonio.iovine](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@antonio.iovine](https://forums.developer.nvidia.com/u/antonio.iovine)\ **Post date:** [February 16, 2024, 2:24pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/12 "2024-02-16T14:24:43Z")
Dear @SivaRamaKrishnaNV @VickNV, can you please track the issue bellow, here in this issue, Since they are same. > [@Unable to add custom lidar node to minipepeline example](https://forums.developer.nvidia.com/t/unable-to-add-custom-lidar-node-to-minipepeline-example/279853): > > Please provide the following info (tick the boxes after creating this topic): Software Version 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 Devel… best regards, Antonio ---
**Author:** ![SivaRamaKrishnaNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/sivaramakrishnanv/32/14043_2.png) [@SivaRamaKrishnaNV](https://forums.developer.nvidia.com/u/SivaRamaKrishnaNV)\ **Post date:** [March 4, 2024, 9:29am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/14 "2024-03-04T09:29:45Z")
Dear @giuseppe.cacace , > [@giuseppe.cacace](#): > > “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”, 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? ---
**Author:** ![giuseppe.cacace](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@giuseppe.cacace](https://forums.developer.nvidia.com/u/giuseppe.cacace)\ **Post date:** [March 4, 2024, 10:39am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/15 "2024-03-04T10:39:49Z")
Dear @SivaRamaKrishnaNV , please refer script attached here, this script we use to run the DW sample Lidar example. > [@giuseppe.cacace](#): > > And this is the command that we run this script > [ourscript.zip](https://forums.developer.nvidia.com/uploads/short-url/gjLbbYZ6wjwdGE2Xzh6BJIXmNlo.zip) (1.3 KB) and yes this is a part of the Rig file related to the Lidar, copy pasted here. > [@SivaRamaKrishnaNV](#): > > Is the above rig.json is used in CGF app? Let me know if you need anything else? Best Regards, Giuseppe ---
**Author:** ![sushant.bahadure](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@sushant.bahadure](https://forums.developer.nvidia.com/u/sushant.bahadure)\ **Post date:** [March 13, 2024, 8:48am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/16 "2024-03-13T08:48:03Z")
Dear @SivaRamaKrishnaNV , were you able to locate the issue? A friendly reminder. Best Regards, Sushant Bahadure ---
**Author:** ![SivaRamaKrishnaNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/sivaramakrishnanv/32/14043_2.png) [@SivaRamaKrishnaNV](https://forums.developer.nvidia.com/u/SivaRamaKrishnaNV)\ **Post date:** [March 21, 2024, 8:56am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/18 "2024-03-21T08:56:55Z")
Dear @giuseppe.cacace , Could you please share the full rig.json used by the your CGF app? ---
**Author:** ![giuseppe.cacace](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@giuseppe.cacace](https://forums.developer.nvidia.com/u/giuseppe.cacace)\ **Post date:** [March 21, 2024, 10:29am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/19 "2024-03-21T10:29:46Z")
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](https://forums.developer.nvidia.com/uploads/short-url/ej2cOpI76y1DSTsEqGXb6dE9BNf.zip) (4.0 KB) ---
**Author:** ![sushant.bahadure](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@sushant.bahadure](https://forums.developer.nvidia.com/u/sushant.bahadure)\ **Post date:** [April 23, 2024, 8:31am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/20 "2024-04-23T08:31:37Z")
Dear @SivaRamaKrishnaNV , Do you have any results yet? A friendly reminder. Best Regards ---
**Author:** ![sushant.bahadure](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@sushant.bahadure](https://forums.developer.nvidia.com/u/sushant.bahadure)\ **Post date:** [May 8, 2024, 3:08pm UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/22 "2024-05-08T15:08:01Z")
Hi @SivaRamaKrishnaNV, @VickNV Do we know what could be the issue?? A friendly reminder. Best regards, Sushant Bahadure ---
**Author:** ![SivaRamaKrishnaNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/sivaramakrishnanv/32/14043_2.png) [@SivaRamaKrishnaNV](https://forums.developer.nvidia.com/u/SivaRamaKrishnaNV)\ **Post date:** [May 9, 2024, 4:01am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/23 "2024-05-09T04:01:08Z")
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. ---
**Author:** ![system](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/system/32/68080_2.png) [@system](https://forums.developer.nvidia.com/u/system)\ **Post date:** [June 14, 2024, 4:49am UTC](https://forums.developer.nvidia.com/t/interface-between-custom-lidar-so-and-drive-orin-failed/282032/26 "2024-06-14T04:49:33Z")
Closed on June 14, 2024, 4:49am UTC This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.