Launching the velodyne lidar VLP16 is getting failed, this is while it is working with ROS

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.7.1.8928
other

Host Machine Version
native Ubuntu 18.04
other

Hi,

I am trying to run the sample_lidar_replay with velodyne lidar VLP16 but getting failed. I am able to run the lidar with ROS using the same ip address, Can anyone help me with that? Thank you.

sudo ./sample_lidar_replay --protocol=lidar.socket --params=ip=192.168.100.3,port=2368,scan-frequency=10,device=VELO_VLP16
[sudo] password for nvidia:
Starting my sample application…
[04-03-2022 12:35:15] Platform: Detected DDPX - Tegra A
[04-03-2022 12:35:15] TimeSource: monotonic epoch time offset is 1646329245562661
[04-03-2022 12:35:15] TimeSource Nvpss : PTP ioctl returned error. Synchronized time will not be available from this timesource.
[04-03-2022 12:35:15] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to eth0
[04-03-2022 12:35:15] TimeSource Eth: Lost PTP time synchronizaton. Synchronized time will not be available from this timesource.
[04-03-2022 12:35:15] TimeSource: Could not detect valid PTP time source at ‘eth0’. Fallback to CLOCK_MONOTONIC.
[04-03-2022 12:35:15] Platform: number of GPU devices detected 1
[04-03-2022 12:35:15] Platform: currently selected GPU device integrated ID 0
[04-03-2022 12:35:15] Context::mountResourceCandidateDataPath resource FAILED to mount from ‘/usr/local/driveworks-4.0/bin/data/’: VirtualFileSystem: Failed to mount ‘/usr/local/driveworks-4.0/bin/data/[.pak]’
[04-03-2022 12:35:15] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks-4.0/bin/…/data
[04-03-2022 12:35:15] Context::mountResourceCandidateDataPath resource FAILED to mount from ‘/usr/local/driveworks-4.0/bin/…/data/’: VirtualFileSystem: Failed to mount ‘/usr/local/driveworks-4.0/bin/…/data/[.pak]’
[04-03-2022 12:35:15] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks-4.0/data
[04-03-2022 12:35:15] Context::mountResourceCandidateDataPath resource FAILED to mount from ‘/usr/local/driveworks-4.0/data/’: VirtualFileSystem: Failed to mount ‘/usr/local/driveworks-4.0/data/[.pak]’
[04-03-2022 12:35:15] SDK: No resources(.pak) mounted, some modules will not function properly
[04-03-2022 12:35:15] SDK: Create NvMediaDevice
[04-03-2022 12:35:15] SDK: Create NvMedia2D
[04-03-2022 12:35:15] SDK: use EGL display as provided
[04-03-2022 12:35:16] TimeSource: monotonic epoch time offset is 1646329245562662
[04-03-2022 12:35:16] TimeSource Nvpss : PTP ioctl returned error. Synchronized time will not be available from this timesource.
[04-03-2022 12:35:16] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to eth0
[04-03-2022 12:35:16] TimeSource Eth: Lost PTP time synchronizaton. Synchronized time will not be available from this timesource.
[04-03-2022 12:35:16] TimeSource: Could not detect valid PTP time source at ‘eth0’. Fallback to CLOCK_MONOTONIC.
[04-03-2022 12:35:16] Initialize DriveWorks SDK v4.0.0
[04-03-2022 12:35:16] Release build with GNU 7.3.1 from no-gitversion-build against Drive PDK v5.2.6.0
[04-03-2022 12:35:16] SensorFactory::createSensor() → lidar.socket, ip=192.168.100.3,port=2368,scan-frequency=10,device=VELO_VLP16
[04-03-2022 12:35:16] LidarSocket::getParameters, return-mode not specified. Using default value 2
[04-03-2022 12:35:16] hfov-start is empty, default value 0 will be used
[04-03-2022 12:35:16] hfov-end is empty, default value 360 will be used
[04-03-2022 12:35:16] Destination IP address, Horizontal Resolution is used only by OUSTER Lidar
[04-03-2022 12:35:16] Return Mode is used only by Velodyne Lidar
[04-03-2022 12:35:16] Horizontal FOV is used only by Ouster and Velodyne Lidars
[04-03-2022 12:35:16] , Device magic number = 3405770240
[04-03-2022 12:35:31] Driveworks exception thrown: DW_SAL_CANNOT_INITIALIZE: LidarSocket::checkDeviceData, 192.168.100.3:2368 is not connected

terminate called after throwing an instance of ‘std::runtime_error’
what(): [2022-03-04 12:35:31] DW Error DW_SAL_CANNOT_INITIALIZE executing DW function:
dwSAL_createSensor(&m_lidarSensor, params, m_sal)
at samples/sensors/lidar/lidar_replay/main.cpp:124
Aborted

Dear @user158496,
Could you confirm if you are able to open lidar configuration page using same IP.

Hi SivaRama,

I can ping it and run the ROS package and see the lidar using the ROS but not able to see the lidar configuration page.

Thank you.

Dear @user158496,
This is strange. Just want to confirm, is there any lidars connected in the network. Every lidar comes with a default IP and we can change lidar settings in the configuration page. Could you attach ping output , lidar connection picturs, opening lidar config url screenshots.

Dear @user158496,
Could you provide any update?

Hi SivaRam,

I am trying the add the lidar ip address in my Drive AGX. Can you please help me with that? Since the Network Manager is not the same as Jetson Xavier or any other ubuntu18.04.
I think my issue comes from the ip address that cannot get added. My lidar is connected to Drive AGX but it cannot distinguished.
Can you please help me with adding the ip address of lidar manually?

I am using this page: NVIDIA DRIVE OS 5.2 Linux SDK Developer Guide : System Software Components and Interfaces | NVIDIA Docs

Thanks

Dear @user158496,
I can ping it and run the ROS package and see the lidar using the ROS but not able to see the lidar configuration page

Is this on AGX or host PC?

Could you share lidar connection pictures? Also, please share ifconfig output after connecting lidar.
I was referring to page no 25/26 in https://velodynelidar.com/wp-content/uploads/2019/12/63-9243-Rev-E-VLP-16-User-Manual.pdf when referring to lidar configuration page.

Have you changed your lidar IP to 192.168.100.3 already?

Hi SivaRama,

It is on Drive AGX. I changed the lidar IP.

Thank you.

Hi SivaRama,

My issue got solved. I wasn’t using the sensor ip address, I was using the Drive AGX ip address,

So I am writing the steps that I did for the ones having issue with the connection of lidar VELO_VLP16

  1. Connect the lidar to your pc and use the Wireshark to find out the ip address of the sensor.

  2. Connect the lidar to your Drive AGX and use: ip addr show the name,

  3. sudo ifconfig NAME(you found in step 2) 10.1.1.100/24

  4. sudo /usr/local/driveworks/bin/sample_lidar_replay --protocol=lidar.socket --params=ip=10.1.1.59(ip address of sensor),port=2368,scan-frequency=10,device=VELO_VLP16

Hopefully, it helps other people facing the same problem as me.

Thank you SivaRam.

Dear @user158496,
Glad to hear the issue is resolved.

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