Dear @zyczkowski ,
We got a response from Ouster, that firmware: ousteros-image-prod-aries-v1.14.0-beta.1+ci+git+nvidia@850828ff2c+dev_fw_PR-793-20200128044023-staging is outdated and has some bugs so they cannot send it to us.
I could see in Ouster OS2-128 issue - #18 by zyczkowski , you already got ousteros-image-prod-aries-v1.14.0-beta.1+ci+git+nvidia@850828ff2c+dev_fw_PR-793-20200128044023-staging. Did you check the lidar state?
Dear @SivaRamaKrishnaNV ,
Working with @zyczkowski on this. We requested ousteros-image-prod-aries-v1.14.0-beta.1+ci+git+nvidia@850828ff2c+dev_fw_PR-793-20200128044023-staging but on double checking in fact we received ousteros-image-prod-aries-v1.14.0-beta.12+ci+git+nvidia@aca4b1ca66-20200731174359-staging can you confirm that this should be working as well?
Best,
Gabriel
Dear @SivaRamaKrishnaNV
Did a bit more testing yesterday. I start with the lidar in running mode and did a full capture of the parameters and then run the following command on TegraB that has DW 3.5:
./sample_lidar_replay --protocol=lidar.socket --params=device=OUSTER_OS2_128,ip=192.168.1.12,port=7502,scan-frequency=10,hres=1024,dip=192.168.1.10
The command tries to initialize the lidar but then the lidar enters error mode. Did a full capture of the config on the lidar also. As far as I can tell the only difference in config params is that the phase lock is enabled:
“phase_lock_enable”: true,
“phase_lock_offset”: 270000,
The Ouster error codes after:
{
“active”: true,
“category”: “INTERNAL_COMM”,
“cursor”: 2,
“id”: “0x01000042”,
“level”: “ERROR”,
“msg”: “Unit has experienced an internal COMM error; please contact Ouster at https://ouster.com/tech-support.”,
“msg_verbose”: “”,
“realtime”: “247880735879”
},
{
“active”: true,
“category”: “CONFIG_INVALID”,
“cursor”: 1,
“id”: “0x01000052”,
“level”: “ERROR”,
“msg”: “Configuration value is invalid or out of bounds.”,
“msg_verbose”: “timestamp_mode TIME_FROM_INTERNAL_OSC incompatible with phase_lock_enable. An external time sync source is required, see the documentation for details.”,
“realtime”: “247766906234”
}
Looks like we cannot use phase_lock_enable with TIME_FROM_INTERNAL_OSC. Do we need to setup an external ptp? Or can we force phase_lock_enable=false from the comand line? Seems that the parameter is set to true during the initialization from DW. Full log from DW is in nvidia_err_new.txt
Thank you in advance,
Gabriel
nvidia_err_new.txt (6.3 KB)
config_running.txt (2.1 KB) config_not_running.txt (3.4 KB)
Dear @zyczkowski,
I have checked internally with our DW team. They recently tested using FW version ousteros-image-prod-aries-v1.14.0-beta.11+ci+git+nvidia@12e83719ae-20200619212753-staging with Dw 3.5 on our cars. Could you update to this and test to be in sync with our team. We will be updating the docs about FW version information.
Looks like we cannot use phase_lock_enable with TIME_FROM_INTERNAL_OSC. Do we need to setup an external ptp?
Could you check this with OUSTER. we are using external PTP in our car. You can use external PTP to fix this issue.
can we force phase_lock_enable=false from the comand line?
Currently we do not support this.
Seems that the parameter is set to true during the initialization from DW
Yes.
Hi Siva,
Do you think you could share the FW with us? I contacted Ouster support team, they said this FW is only built for Nvidia.
Dear @SivaRamaKrishnaNV
Fully support the request above, is it possible for you to share with us the firmware ousteros-image-prod-aries-v1.14.0-beta.11+ci+git+nvidia@12e83719ae-20200619212753-staging that is working that is workin on your fleet?
Best regards,
Gabriel
Dear @SivaRamaKrishnaNV we have recently moved the hardware to @gabriel.kiss . I think it will be best to address him with all the questions, could you provide him with adequate firmware?
Thanks :)
Per Error in Sample Lidar Replay sample using live Ouster lidar configuration - #14 by gabriel.kiss, this topic was fixed with firmware 2.1.