DRIVE OS Version: 7.0.3
Issue Description: When replaying a recorded lidar .bin from a recording made with the record tool the sample_lidar_replay initially displays a point-cloud for a short period of time and then seems to get stuck continuously reporting an error “invalid packet”
The command line:
/usr/local/driveworks/bin/sample_lidar_replay --protocol=lidar.virtual --params=file=lidar_vls128.bin --autoExit=1 2>&1 | tee sample_lidar_replay.log
This eventually (quickly) produces the following output:
[DW][ERROR][getBasePathFor] Warning: SamplesDataPath::getBasePathFor(): 'DATA_ROOT' not found in search paths [/srv/nfs/share/rec/lidar-cam/2026-07-09/data | /usr/local/driveworks/bin.runfiles/av/data | /usr/local/driveworks/bin/sample_lidar_replay.runfiles/av/data | /usr/local/driveworks/bin/data | /usr/local/driveworks/data | /usr/local/data | /usr/data]
[DW][INFO] ProgramArguments: Missing argument 'dwTracePath' requested
[DW][INFO] Starting my sample application...
[09-07-2026 17:17:56] Adding variable DW_Base:DW_Version
[09-07-2026 17:17:56] Added variable DW_Base:DW_Version
[09-07-2026 17:17:56] Platform: number of GPU devices detected 1
[09-07-2026 17:17:56] Platform: currently selected GPU device 0, Resource Data Dir: trt_10_08_10_05, Arch: ga10b
[09-07-2026 17:17:56] Platform: currently selected GPU device integrated ID 0
[09-07-2026 17:17:56] Context::mountResourceCandidateDataPath resource FAILED to mount from './resources': VirtualFileSystem: Failed to mount './resources/resources.pak'
[09-07-2026 17:17:56] Context::mountResourceCandidateDataPath resource FAILED to mount from '/srv/nfs/share/rec/lidar-cam/2026-07-09/data': VirtualFileSystem: Failed to mount '/srv/nfs/share/rec/lidar-cam/2026-07-09/data/resources.pak'
[09-07-2026 17:17:56] Context::findDataRootInPathWalk: Could not find ./data/DATA_ROOT in upto 7 parent directories from /usr/local/driveworks/bin/../lib/libdw_base.so.7.0
[09-07-2026 17:17:56] Context::findDataRootInPathWalk: Could not find ./data/DATA_ROOT in upto 7 parent directories from /usr/local/driveworks/targets/aarch64-Linux/lib/libdw_base.so.7.0
[09-07-2026 17:17:56] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks/bin/../lib/libdw_base.so.7.0
[09-07-2026 17:17:56] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks/targets/aarch64-Linux/lib/libdw_base.so.7.0
[09-07-2026 17:17:56] SDK: No resources(.pak) mounted, some modules will not function properly
[09-07-2026 17:17:56] [09-07-2026 17:17:56] Initialize DriveWorks SDK v7.0.3
[09-07-2026 17:17:56] [09-07-2026 17:17:56] Release build with GNU 13.2.0 from against Drive PDK v7.0.3.0
[09-07-2026 17:17:56] SensorFactory::createSensor() -> time.nvpps, nvpps-device=/dev/nvpps0
[09-07-2026 17:17:56] Found driver: time.nvpps
[09-07-2026 17:17:56] TimeSensorNVPPS: initialized with no UTC time reference.
[09-07-2026 17:17:56] output-timestamp parameter is deprecated and will be removed in next release[09-07-2026 17:17:56] SensorFactory: Override default timeSensor with the user passed one
[09-07-2026 17:17:56] EndpointNVPPS: started on /dev/nvpps0
[09-07-2026 17:17:56] SensorFactory::loadPluginLibraryHelper:Succeed to load dynamic lib - /usr/local/driveworks/bin/../lib/libsensor_plugin_public_radar.so
[09-07-2026 17:17:56] SensorFactory::createSensor() -> lidar.virtual, file=lidar_vls128.bin
[09-07-2026 17:17:56] Found driver: lidar.virtual
[09-07-2026 17:17:56] output-timestamp parameter is deprecated and will be removed in next release[09-07-2026 17:17:56] output-timestamp parameter is deprecated and will be removed in next release[09-07-2026 17:17:56] output-timestamp parameter is deprecated and will be removed in next release[09-07-2026 17:17:56] Seek file lidar_vls128.bin.seek: seek table with 9502 entries covering 304039 events ranging from 1783617180843212 to 1783617198667503 usecs
[09-07-2026 17:17:56] LegacyLidarDemuxer: hres is empty, default value 0 will be used
[09-07-2026 17:17:56] LegacyLidarDemuxer: hfov-start is empty, default value 0 will be used
[09-07-2026 17:17:56] LegacyLidarDemuxer: hfov-end is empty, default value 360 will be used
[09-07-2026 17:17:56] LegacyLidarDemuxer: return-mode is not found in lidar recording header, will use the packet stream to set lidar properties properly
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] Return mode separation not enabled, using DW_LIDAR_RETURN_TYPE_ANY
[09-07-2026 17:17:56] output-timestamp parameter is deprecated and will be removed in next release[09-07-2026 17:17:56] Initialize DriveWorks VisualizationSDK v7.0.3
[09-07-2026 17:17:56] Initialize DriveWorksGL SDK v7.0.3
[09-07-2026 17:17:56] egl::Display: found 1 EGL devices
[09-07-2026 17:17:56] egl::Display: use drm device: /dev/dri/card1
[DW][INFO] Init Successfully.
[09-07-2026 17:17:57] EndpointNVPPS: no PPS event received; missing PPS/GPS signal?
[09-07-2026 17:17:57] EndpointNVPPS: switching to timer mode until PPS signal is available.
[09-07-2026 17:18:14] DecoderVelodyneVLS128::drain, invalid packet
[09-07-2026 17:18:14] DecoderVelodyneVLS128::drain, invalid packet
[09-07-2026 17:18:14] DecoderVelodyneVLS128::drain, invalid packet
[09-07-2026 17:18:14] DecoderVelodyneVLS128::drain, invalid packet
[09-07-2026 17:18:14] DecoderVelodyneVLS128::drain, invalid packet
[09-07-2026 17:18:14] DecoderVelodyneVLS128::drain, invalid packet
....
The rig file used to generate the recording is:
{
"rig": {
"sensors": [
{
"name": "lidar:vls128",
"protocol": "lidar.socket",
"parameter": "device=VELO_VLS128,ip=192.168.14.218,port=2368,scan-frequency=20,time-smoothing=true",
"nominalSensor2Rig_FLU": {
"roll-pitch-yaw": [
0,
0,
0
],
"t": [
0,
0,
0
]
}
}
],
"vehicle": {
"valid": false
}
},
"version": 2
}
How can I determine if the .bin file is somehow corrupt or if this is a known issue with the lidar decoder?