LiDAR data packet loss

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Hardware Platform: [DRIVE AGX Xavier™ Developer Kit]
Software Version: [DRIVE Software 10]
Host Machine Version: [Ubuntu 18.04]
SDK Manager Version: [Example: 1.0.1.5538]

Hi,
I want to use LiDAR of VLS128 with the following settings.

fps: 10 (600rpm)
mode: Dual

However, I am connected to a 1Gbps port, but packet loss occurs.
It does not occur when mode is single.

Does AGX deliver 1 Gbps throughput?

2

Hi @N.Miya,

Could you provide the detailed steps of how to reproduce the packet loss issue and the related log? Thanks!

4

Hi, @VickNV

I ran the following commands in strongest and dual mode.

/usr/local/driveworks/bin/sample_lidar_replay --protocol=lidar.socket --params=device=VELO_VLS128,ip=192.168.1.201,port=2368,scan-frequency=10

lidar_log.zip (75.0 KB)

thanks!

5

Please try if increasing the socket receive buffer settings help. Thanks!

sysctl -w net.core.rmem_max=33554432
sysctl -w net.core.rmem_default=33554432