Support for Sick TiM551 lidar on Nvidia Isaac SDK 2020.2

I was trying to add the Sick 2d lidar package to the Nvidia Isaac SDK 2020.2 which is available from this git link: https://github.com/supreethk6/sick_scan_nvidia_isaac.git → But I was facing a few issues at the beginning like below,

skk@skk:~/isaac/sdk$ bazel build ... --sandbox_debug
WARNING: /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/external/opencv_x86_64/BUILD.bazel:11:1: in linkstatic attribute of cc_library rule @opencv_x86_64//:opencv_x86_64: setting 'linkstatic=1' is recommended if there are no object files
WARNING: /home/skk/adm_core/isaac/sdk/packages/map/BUILD:23:1: in linkstatic attribute of cc_library rule //packages/map:public_headers: setting 'linkstatic=1' is recommended if there are no object files
INFO: Analyzed 1323 targets (0 packages loaded, 0 targets configured).
INFO: Found 1323 targets...
ERROR: /home/skk/adm_core/isaac/sdk/packages/sick_lidar_2d/components/BUILD:20:1: Couldn't build file packages/sick_lidar_2d/components/_objs/sick_lidar_2d/TiM5xxFamily.o: C++ compilation of rule '//packages/sick_lidar_2d/components:sick_lidar_2d' failed (Exit 1) linux-sandbox failed: error executing command 
  (cd /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/sandbox/linux-sandbox/432/execroot/com_nvidia_isaac_sdk && \
  exec env - \
LD_LIBRARY_PATH=/home/skk/ki-rviz-tools/devel/lib:/home/skk/k5_adm_3/devel/lib:/opt/ros/melodic/lib \
PATH=/home/skk/ki-rviz-tools/devel/bin:/home/skk/k5_adm_3/devel/bin:/opt/ros/melodic/bin:/home/skk/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin \
PWD=/proc/self/cwd \
TMPDIR=/tmp \
target_platform=x86_64 \
  /home/skk/.cache/bazel/_bazel_skk/install/f439a981a1e06f45be981c123f9858d5/linux-sandbox -t 15 -w /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/sandbox/linux-sandbox/432/execroot/com_nvidia_isaac_sdk -w /tmp -w /dev/shm -D -- external/toolchain/crosstool/scripts/crosstool_wrapper_driver_is_not_gcc_host.py -MD -MF bazel-out/k8-opt/bin/packages/sick_lidar_2d/components/_objs/sick_lidar_2d/TiM5xxFamily.d '-frandom-seed=bazel-out/k8-opt/bin/packages/sick_lidar_2d/components/_objs/sick_lidar_2d/TiM5xxFamily.o' -D__CLANG_SUPPORT_DYN_ANNOTATION__ '-DPNG_ARM_NEON_OPT=0' -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DHAVE_USLEEP -DHAVE_SYS_FILE_H -DHAVE_STDLIB_H -DHAVE_UNISTD_H -DHAVE_SYS_SOCKET_H -iquote . -iquote bazel-out/k8-opt/bin -iquote external/com_sickag_ssbl -iquote bazel-out/k8-opt/bin/external/com_sickag_ssbl -iquote external/com_nvidia_isaac_engine -iquote bazel-out/k8-opt/bin/external/com_nvidia_isaac_engine -iquote external/cuda_x86_64 -iquote bazel-out/k8-opt/bin/external/cuda_x86_64 -iquote external/capnproto -iquote bazel-out/k8-opt/bin/external/capnproto -iquote external/org_tuxfamily_eigen -iquote bazel-out/k8-opt/bin/external/org_tuxfamily_eigen -iquote external/libuuid -iquote bazel-out/k8-opt/bin/external/libuuid -iquote external/com_google_absl -iquote bazel-out/k8-opt/bin/external/com_google_absl -iquote external/libjpeg -iquote bazel-out/k8-opt/bin/external/libjpeg -iquote external/org_libpng_libpng -iquote bazel-out/k8-opt/bin/external/org_libpng_libpng -iquote external/net_zlib_zlib -iquote bazel-out/k8-opt/bin/external/net_zlib_zlib -iquote external/breakpad -iquote bazel-out/k8-opt/bin/external/breakpad -iquote external/lss -iquote bazel-out/k8-opt/bin/external/lss -iquote external/redis -iquote bazel-out/k8-opt/bin/external/redis -Ibazel-out/k8-opt/bin/external/cuda_x86_64/_virtual_includes/cudart -Ibazel-out/k8-opt/bin/external/cuda_x86_64/_virtual_includes/cuda -Ibazel-out/k8-opt/bin/external/breakpad/_virtual_includes/breakpad -Ibazel-out/k8-opt/bin/external/lss/_virtual_includes/lss -isystem external/capnproto -isystem bazel-out/k8-opt/bin/external/capnproto -isystem external/capnproto/c++/src -isystem bazel-out/k8-opt/bin/external/capnproto/c++/src -isystem external/org_tuxfamily_eigen -isystem bazel-out/k8-opt/bin/external/org_tuxfamily_eigen -isystem external/libuuid -isystem bazel-out/k8-opt/bin/external/libuuid -isystem external/libjpeg -isystem bazel-out/k8-opt/bin/external/libjpeg -isystem external/org_libpng_libpng -isystem bazel-out/k8-opt/bin/external/org_libpng_libpng -isystem external/net_zlib_zlib -isystem bazel-out/k8-opt/bin/external/net_zlib_zlib -isystem external/redis/deps/hiredis -isystem bazel-out/k8-opt/bin/external/redis/deps/hiredis '-std=c++14' -D_DEFAULT_SOURCE -U_FORTIFY_SOURCE -fstack-protector -Wall -Werror -B/usr/bin -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -fPIC -D__STDC_FORMAT_MACROS -DNDEBUG '-D_FORTIFY_SOURCE=2' -ffunction-sections -fdata-sections -O3 -ggdb2 -Iexternal/com_sickag_ssbl/Components -Iexternal/com_sickag_ssbl/include -c packages/sick_lidar_2d/components/TiM5xxFamily.cpp -o bazel-out/k8-opt/bin/packages/sick_lidar_2d/components/_objs/sick_lidar_2d/TiM5xxFamily.o)
src/main/tools/linux-sandbox.cc:156: linux-sandbox-pid1 has PID 21723
src/main/tools/process-tools.cc:118: sigaction(32, &sa, nullptr) failed
src/main/tools/process-tools.cc:118: sigaction(33, &sa, nullptr) failed
src/main/tools/linux-sandbox-pid1.cc:176: working dir: /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/sandbox/linux-sandbox/432/execroot/com_nvidia_isaac_sdk
src/main/tools/linux-sandbox-pid1.cc:195: writable: /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/sandbox/linux-sandbox/432/execroot/com_nvidia_isaac_sdk
src/main/tools/linux-sandbox-pid1.cc:195: writable: /tmp
src/main/tools/linux-sandbox-pid1.cc:195: writable: /dev/shm
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /dev
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /dev/pts
src/main/tools/linux-sandbox-pid1.cc:266: remount rw: /dev/shm
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /dev/hugepages
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /dev/mqueue
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /run
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /run/lock
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /run/user/121
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /run/user/1000
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /run/user/1000/gvfs
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /run/user/1000/doc
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /run/snapd/ns
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/kernel/security
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/unified
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/systemd
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/freezer
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/devices
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/blkio
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/net_cls,net_prio
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/hugetlb
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/cpu,cpuacct
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/memory
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/perf_event
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/rdma
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/pids
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/cgroup/cpuset
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/pstore
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/firmware/efi/efivars
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/kernel/debug
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/kernel/debug/tracing
src/main/tools/linux-sandbox-pid1.cc:287: remount(nullptr, /sys/kernel/debug/tracing, nullptr, 2101281, nullptr) failure (Permission denied) ignored
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/fs/fuse/connections
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /sys/kernel/config
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /proc
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /proc/sys/fs/binfmt_misc
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /proc/sys/fs/binfmt_misc
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/code/65
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/snapd/11588
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-3-34-1804/36
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/teams/3
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-calculator/884
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gtk-common-themes/1515
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/core18/2066
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-characters/708
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-logs/100
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /boot/efi
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/core18/1997
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/slack/40
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/obs-studio/1195
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-calculator/748
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-logs/103
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/code/64
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/core/10958
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/youtube-music-desktop-app/6
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-characters/570
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/zoom-client/142
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/zoom-client/143
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/snapd/11841
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/qt551/31
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gtk-common-themes/1514
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/teams/4
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/qt551/35
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/slack/39
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-3-28-1804/145
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-system-monitor/148
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/core20/975
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/core/11081
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-3-34-1804/66
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/core20/1026
src/main/tools/linux-sandbox-pid1.cc:266: remount ro: /snap/gnome-system-monitor/157
src/main/tools/linux-sandbox-pid1.cc:266: remount rw: /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/sandbox/linux-sandbox/432/execroot/com_nvidia_isaac_sdk
src/main/tools/linux-sandbox-pid1.cc:266: remount rw: /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/sandbox/linux-sandbox/432/execroot/com_nvidia_isaac_sdk
src/main/tools/linux-sandbox-pid1.cc:266: remount rw: /tmp
src/main/tools/linux-sandbox-pid1.cc:266: remount rw: /dev/shm
src/main/tools/process-tools.cc:118: sigaction(32, &sa, nullptr) failed
src/main/tools/process-tools.cc:118: sigaction(33, &sa, nullptr) failed
packages/sick_lidar_2d/components/TiM5xxFamily.cpp: In member function 'void isaac::sick_lidar_2d::TiM5xxFamily::scanProcessor(uint64_t*)':
packages/sick_lidar_2d/components/TiM5xxFamily.cpp:101:55: error: no matching function for call to 'RangeScanProto::Builder::initRanges(uint32_t&)'
   auto rays_proto = range_scan_proto.initRanges(n_rays);
                                                   ^
In file included from ./messages/messages.hpp:45:0,
             from packages/sick_lidar_2d/components/SickIsaacLidar2D.hpp:24,
             from packages/sick_lidar_2d/components/TiM5xxFamily.cpp:15:
bazel-out/k8-opt/bin/messages/range_scan.capnp.h:208:32: note: candidate: TensorProto::Builder RangeScanProto::Builder::initRanges()
 inline  ::TensorProto::Builder RangeScanProto::Builder::initRanges() {
                            ^~~~~~~~~~~~~~
bazel-out/k8-opt/bin/messages/range_scan.capnp.h:208:32: note:   candidate expects 0 arguments, 1 provided
src/main/tools/linux-sandbox-pid1.cc:423: waitpid returned 2
src/main/tools/linux-sandbox-pid1.cc:443: child exited with code 1
src/main/tools/linux-sandbox.cc:206: child exited normally with exitcode 1
INFO: Elapsed time: 4.956s, Critical Path: 4.39s
INFO: 0 processes.
FAILED: Build did NOT complete successfully
skk@skk:~/isaac/sdk$ 

I figured that the message protos available for RangeScanProto have been changed from 2019.1 and changed accordingly to get a successfull build.

But when trying to run the application for TiM551 (after changing the IP and the lidar names everywhere) → I’m getting a component not found issue like below,

skk@skk:~/isaac/sdk$ bazel run //packages/sick_lidar_2d/apps:tim5xx_sample
INFO: Analyzed target //packages/sick_lidar_2d/apps:tim5xx_sample (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
Target //packages/sick_lidar_2d/apps:tim5xx_sample up-to-date:
  bazel-bin/packages/sick_lidar_2d/apps/run_tim5xx_sample
  bazel-bin/packages/sick_lidar_2d/apps/tim5xx_sample
INFO: Elapsed time: 0.180s, Critical Path: 0.00s
INFO: 0 processes.
INFO: Build completed successfully, 1 total action
INFO: Build completed successfully, 1 total action
2021-06-03 12:41:35.532 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@183: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2021-06-03 12:41:35.532 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2021-06-03 12:41:35.533 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@200: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2021-06-03 12:41:35.533 WARN  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@341: No default execution groups specified. Attempting to create scheduler configuration for 8 remaining cores. This may be non optimal for the system and application.
2021-06-03 12:41:35.533 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@291: Scheduler execution groups are:
2021-06-03 12:41:35.533 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __BlockerGroup__: Cores = [4, 5], Workers = No
2021-06-03 12:41:35.533 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __WorkerGroup__: Cores = [7, 6, 1, 0, 2, 3], Workers = Yes
2021-06-03 12:41:35.540 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/perception/libperception_module.so': Now has 39 components total
2021-06-03 12:41:35.544 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sick_lidar_2d/libsick_lidar_2d_module.so': Now has 39 components total
2021-06-03 12:41:35.552 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/viewers/libviewers_module.so': Now has 72 components total
2021-06-03 12:41:35.552 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 72 components: isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScaskk@skk:~/adm_core/isaac/sdk$ bazel run //packages/sick_lidar_2d/apps:tim5xx_sample
INFO: Analyzed target //packages/sick_lidar_2d/apps:tim5xx_sample (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
Target //packages/sick_lidar_2d/apps:tim5xx_sample up-to-date:
  bazel-bin/packages/sick_lidar_2d/apps/run_tim5xx_sample
  bazel-bin/packages/sick_lidar_2d/apps/tim5xx_sample
INFO: Elapsed time: 0.180s, Critical Path: 0.00s
INFO: 0 processes.
INFO: Build completed successfully, 1 total action
INFO: Build completed successfully, 1 total action
2021-06-03 12:41:35.532 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@183: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2021-06-03 12:41:35.532 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2021-06-03 12:41:35.533 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@200: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2021-06-03 12:41:35.533 WARN  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@341: No default execution groups specified. Attempting to create scheduler configuration for 8 remaining cores. This may be non optimal for the system and application.
2021-06-03 12:41:35.533 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@291: Scheduler execution groups are:
2021-06-03 12:41:35.533 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __BlockerGroup__: Cores = [4, 5], Workers = No
2021-06-03 12:41:35.533 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __WorkerGroup__: Cores = [7, 6, 1, 0, 2, 3], Workers = Yes
2021-06-03 12:41:35.540 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/perception/libperception_module.so': Now has 39 components total
2021-06-03 12:41:35.544 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sick_lidar_2d/libsick_lidar_2d_module.so': Now has 39 components total
2021-06-03 12:41:35.552 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/viewers/libviewers_module.so': Now has 72 components total
2021-06-03 12:41:35.552 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 72 components: isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2021-06-03 12:41:35.552 PANIC external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@325: Could not load component 'isaac::sick_lidar_2d::TiM5xxFamily'
====================================================================================================
|                            Isaac application terminated unexpectedly                             |
====================================================================================================
#01 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x6cc1a) [0x55d22e883c1a]
#02 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xe3e80) [0x55d22e8fae80]
#03 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xe41f0) [0x55d22e8fb1f0]
#04 /lib/x86_64-linux-gnu/libpthread.so.0(+0x12980) [0x7f5d85ffa980]
#05 /lib/x86_64-linux-gnu/libc.so.6(gsignal+0xc7) [0x7f5d85694fb7]
#06 /lib/x86_64-linux-gnu/libc.so.6(abort+0x141) [0x7f5d85696921]
#07 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x72489) [0x55d22e889489]
#08 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x81386) [0x55d22e898386]
#09 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xbb50a) [0x55d22e8d250a]
#10 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x7d90d) [0x55d22e89490d]
#11 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x31906) [0x55d22e848906]
#12 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x33a69) [0x55d22e84aa69]
#13 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x33dbf) [0x55d22e84adbf]
#14 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x12873) [0x55d22e829873]
#15 /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xe7) [0x7f5d85677bf7]
#16 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x17eca) [0x55d22e82eeca]
====================================================================================================
Minidump written to: /tmp/ce49ea7f-356a-42d4-decbf2a1-f358ae35.dmp
Aborted (core dumped)
nModelFlatloc, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2021-06-03 12:41:35.552 PANIC external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@325: Could not load component 'isaac::sick_lidar_2d::TiM5xxFamily'
====================================================================================================
|                            Isaac application terminated unexpectedly                             |
====================================================================================================
#01 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x6cc1a) [0x55d22e883c1a]
#02 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xe3e80) [0x55d22e8fae80]
#03 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xe41f0) [0x55d22e8fb1f0]
#04 /lib/x86_64-linux-gnu/libpthread.so.0(+0x12980) [0x7f5d85ffa980]
#05 /lib/x86_64-linux-gnu/libc.so.6(gsignal+0xc7) [0x7f5d85694fb7]
#06 /lib/x86_64-linux-gnu/libc.so.6(abort+0x141) [0x7f5d85696921]
#07 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x72489) [0x55d22e889489]
#08 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x81386) [0x55d22e898386]
#09 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xbb50a) [0x55d22e8d250a]
#10 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x7d90d) [0x55d22e89490d]
#11 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x31906) [0x55d22e848906]
#12 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x33a69) [0x55d22e84aa69]
#13 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x33dbf) [0x55d22e84adbf]
#14 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x12873) [0x55d22e829873]
#15 /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xe7) [0x7f5d85677bf7]
#16 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x17eca) [0x55d22e82eeca]
====================================================================================================
Minidump written to: /tmp/ce49ea7f-356a-42d4-decbf2a1-f358ae35.dmp
Aborted (core dumped)

Also tried to check the dependencies but doesn’t has any issues on that,

skk@skk:~/isaac/sdk/bazel-bin/packages/sick_lidar_2d$ sudo updatedb
skk@skk:~/isaac/sdk/bazel-bin/packages/sick_lidar_2d$ ldd 
apps/                                         libsick_lidar_2d_module.so                    libsick_lidar_2d_module.so.runfiles/          __modlib_sick_lidar_2d_file_locations_files
components/                                   libsick_lidar_2d_module.so-2.params           libsick_lidar_2d_module.so.runfiles_manifest  
skk@skk:~/isaac/sdk/bazel-bin/packages/sick_lidar_2d$ ldd libsick_lidar_2d_module.so
	linux-vdso.so.1 (0x00007ffccdf9a000)
	libnvToolsExt.so.1 => /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/execroot/com_nvidia_isaac_sdk/bazel-out/k8-opt/bin/packages/sick_lidar_2d/./../../_solib_k8/_U@cuda_Ux86_U64_S_S_Ccuda___Uexternal_Scuda_Ux86_U64_Susr_Slocal_Scuda-10.2_Stargets_Sx86_U64-linux_Slib/libnvToolsExt.so.1 (0x00007ff05fdf8000)
	libcudart.so.10.2 => /home/skk/.cache/bazel/_bazel_skk/8e733bd778e0f9e96a422e9abc2d1991/execroot/com_nvidia_isaac_sdk/bazel-out/k8-opt/bin/packages/sick_lidar_2d/./../../_solib_k8/_U@cuda_Ux86_U64_S_S_Ccudart___Uexternal_Scuda_Ux86_U64_Susr_Slocal_Scuda-10.2_Slib64/libcudart.so.10.2 (0x00007ff05fb7a000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007ff05f976000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007ff05f5d8000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007ff05f24f000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007ff05f037000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007ff05ee18000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007ff05ea27000)
	/lib64/ld-linux-x86-64.so.2 (0x00007ff060226000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007ff05e81f000)
skk@skk:~/isaac/sdk/bazel-bin/packages/sick_lidar_2d$ 

How could I resolve this issue,

Could not load component ‘isaac::sick_lidar_2d::TiM5xxFamily’

Any and all kind of comments or support on this is appreciated as this is very Time Sinsitive for us.

@hemals @Swapnesh ^^^

Did you happen to link the library that you built as a dependency in your Bazel target for your app? It appears at first glance that configuration was trying to load the TiM5xxFamily but the library was not dynamically loaded.

@hemals Thanks for the response!
Yes, I’ve added my built library by the name sick_lidar_2d within modules of my app and deps of main Build. I’m still having this issue.

For your reference,

Build file of app →

isaac_app(
    name = "tim511_app",
    app_json_file = "tim551_sample.app.json",
    modules = [
        "sick_lidar_2d",
        "perception",
        "viewers",
    ],
)

Main package build file →

isaac_cc_module(
    name = "sick_lidar_2d",
    deps = [
        "//packages/sick_lidar_2d/components:sick_lidar_2d",
    ],
)

And in the app module I’ve also added this →

{
  "name": "tim551_app",
  "modules": [
    "sick_lidar_2d",
    "perception",
    "viewers"
  ],
  "graph": {
    "nodes": [ . . . . . . . . 

Any other possible place that I’m missing to add the dependency here?

^^^ Also, any debugging app or tool of isaac that you know we can use here and for future troubleshooting?

I’ve created a branch called 2020.2 within GitHub - SickScan/sick_scan_nvidia_isaac: NVIDIA Isaac Integration Layer for SICK AG Lidar.

In addition to API changes, the main issue was a missing “always link” flag within one of the Bazel scripts.

2 Likes

@MarkusMitM Thank you for your support. I’ll checkout to that branch and try out the application.

@MarkusMitM I pulled your SickScan:2020.2 branch and tried the application. The error shows that there is no TiM 551 device available. On going through the SSBL tar ball, it seems like you’ve also updated the SSBL version from 2.0 to 3.0 where in only TiM561, TiM571 and TiM581 supports are available. But as I mentioned we’re using TiM551 device so we need the SSBL drivers for them. Could you please add the support in SSBL driver package for the device TiM551?

@MarkusMitM I’ve edited the SSBL sick_scan_base-0.0.3 and tried adding TiM551 device. After this the bazel build was successful. But seems like the lidar isn’t initializing → that said, the configuration parameters start_angle and stop_angle could not be deserialized to the necessary type.
Could you also please help me resolve this or maybe add TiM551 support to the driver package (tar ball sick_scan_base-0.0.3) . Please checkout the branch supreethk6:skk_ssbl_add_tim_551 to review the changes that i made if that helps to prove/replicate my issue.

skk@skk:~/skk_workspace/sick_scan_nvidia_isaac$ bazel run //packages/sick_lidar_2d/apps:tim551_app
INFO: Analyzed target //packages/sick_lidar_2d/apps:tim551_app (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
Target //packages/sick_lidar_2d/apps:tim551_app up-to-date:
  bazel-bin/packages/sick_lidar_2d/apps/run_tim551_app
  bazel-bin/packages/sick_lidar_2d/apps/tim551_app
INFO: Elapsed time: 0.141s, Critical Path: 0.00s
INFO: 0 processes.
INFO: Build completed successfully, 1 total action
INFO: Build completed successfully, 1 total action
2021-07-09 19:25:22.351 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@183: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2021-07-09 19:25:22.352 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2021-07-09 19:25:22.352 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@200: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2021-07-09 19:25:22.352 WARN  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@341: No default execution groups specified. Attempting to create scheduler configuration for 12 remaining cores. This may be non optimal for the system and application.
2021-07-09 19:25:22.352 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@291: Scheduler execution groups are:
2021-07-09 19:25:22.352 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __BlockerGroup__: Cores = [3, 4, 5], Workers = No
2021-07-09 19:25:22.352 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __WorkerGroup__: Cores = [11, 10, 9, 8, 7, 6, 1, 0, 2], Workers = Yes
2021-07-09 19:25:22.358 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'external/com_nvidia_isaac_sdk/packages/perception/libperception_module.so': Now has 39 components total
2021-07-09 19:25:22.361 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'external/com_nvidia_isaac_sdk/packages/sight/libsight_module.so': Now has 43 components total
2021-07-09 19:25:22.366 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'external/com_nvidia_isaac_sdk/packages/viewers/libviewers_module.so': Now has 76 components total
2021-07-09 19:25:22.371 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sick_lidar_2d/libsick_lidar_2d_module.so': Now has 77 components total
2021-07-09 19:25:22.371 INFO  external/com_nvidia_isaac_sdk/packages/sight/sight_start.cpp@157: Loading websight...
2021-07-09 19:25:22.371 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 77 components: isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::sick_lidar_2d::TiM5xxFamily, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2021-07-09 19:25:22.372 WARN  external/com_nvidia_isaac_engine/engine/alice/application.cpp@173: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2021-07-09 19:25:22.372 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 77 components: isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::sick_lidar_2d::TiM5xxFamily, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2021-07-09 19:25:22.372 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Config.cpp@89: Could not deserialize configuration parameter 'tim551/isaac.sick_lidar_2d.TiM5xxFamily/start_angle to necessary type
2021-07-09 19:25:22.372 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Config.cpp@89: Could not deserialize configuration parameter 'tim551/isaac.sick_lidar_2d.TiM5xxFamily/stop_angle to necessary type
2021-07-09 19:25:22.372 INFO  external/com_nvidia_isaac_engine/engine/alice/application.cpp@295: Starting application 'tim551_sample' (instance UUID: '13e201be-e126-11eb-86cc-f7dcdc57afb3') ...
2021-07-09 19:25:22.372 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2021-07-09 19:25:22.372 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2021-07-09 19:25:22.373 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2021-07-09 19:25:22.373 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2021-07-09 19:25:22.373 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@247: Sight webserver is loaded
2021-07-09 19:25:22.373 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@248: Please open Chrome Browser and navigate to http://<ip address>:3000
2021-07-09 19:25:22.373 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2021-07-09 19:25:22.373 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2021-07-09 19:25:22.404 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet '_check_operating_system/isaac.alice.CheckOperatingSystem' was not added to scheduler because no tick method is specified.
2021-07-09 19:25:22.404 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2021-07-09 19:25:22.404 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2021-07-09 19:25:22.406 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [02:25:22.406] SSBL INFO: Testing if device supports desired protocol...

2021-07-09 19:25:22.407 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [02:25:22.407] SSBL INFO: Connecting to 192.168.0.1 on port 2112

2021-07-09 19:25:24.408 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [02:25:24.408] SSBL ERROR: Error connecting to device. Operation now in progress

2021-07-09 19:25:24.408 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [02:25:24.408] SSBL ERROR: Error during transition from Error to BusyIdle

2021-07-09 19:25:24.408 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [02:25:24.408] SSBL ERROR: Connection error

2021-07-09 19:25:24.408 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@229: Component 'tim551/isaac.sick_lidar_2d.TiM5xxFamily' of type 'isaac::sick_lidar_2d::TiM5xxFamily' reported FAILURE:

    Failed to initialize Lidar

2021-07-09 19:25:24.408 ERROR external/com_nvidia_isaac_engine/engine/alice/backend/event_manager.cpp@43: Stopping node 'tim551' because it reached status 'FAILURE'
2021-07-09 19:25:24.408 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2021-07-09 19:25:32.372 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/allocator_backend.cpp@57: Optimized memory CPU allocator.
2021-07-09 19:25:32.372 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/allocator_backend.cpp@66: Optimized memory CUDA allocator.
^C2021-07-09 19:29:16.398 INFO  external/com_nvidia_isaac_engine/engine/alice/application.cpp@350: Stopping application 'tim551_sample' (instance UUID: '13e201be-e126-11eb-86cc-f7dcdc57afb3') ...
2021-07-09 19:29:16.398 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@132: Backend is shutting down...
2021-07-09 19:29:16.408 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@499: =====================================================================================
2021-07-09 19:29:16.408 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@500: |                             Websight Statistics Report                            |
2021-07-09 19:29:16.408 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@501: =====================================================================================
2021-07-09 19:29:16.408 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@502: | Name                                            | Bandwidth |    Total |    Count |
2021-07-09 19:29:16.408 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@503: -------------------------------------------------------------------------------------
2021-07-09 19:29:16.408 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@522: =====================================================================================
2021-07-09 19:29:16.418 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@505: Stopping all threads for execution group __BlockerGroup__...
2021-07-09 19:29:16.418 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@509: Stopping all threads DONE
2021-07-09 19:29:16.418 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@505: Stopping all threads for execution group __WorkerGroup__...
2021-07-09 19:29:16.418 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@509: Stopping all threads DONE
2021-07-09 19:29:16.419 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@148: Backend is shutting down... DONE
2021-07-09 19:29:16.419 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@152: codelets:
|=====================================================================================================================|
|                                           Job Statistics Report (regular)                                           |
|=====================================================================================================================|
| Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Late (%) |
|---------------------------------------------------------------------------------------------------------------------|
|                  isaac.alice.BufferAllocatorReport |      79 |     1.07 |     1.27 |     1.47 |    0.0 % |    0.0 % |
|                           isaac.alice.ConfigBridge |       0 |     0.00 |     0.00 |     -inf |    0.0 % |    0.0 % |
|                           InteractiveMarkersBridge |    4681 |     0.01 |     0.01 |     0.11 |    0.0 % |    0.0 % |
|                        isaac.alice.LifecycleReport |     937 |     0.00 |     0.01 |     5.12 |    0.0 % |    0.0 % |
|                   isaac.alice.MessagePassingReport |      79 |     2.47 |     2.77 |     7.67 |    0.1 % |    0.0 % |
|                                 PoseTreeJsonBridge |    4681 |     0.05 |     0.06 |     0.22 |    0.1 % |    0.0 % |
|                                     NodeStatistics |     235 |     0.23 |     0.27 |     9.46 |    0.0 % |    0.0 % |
|                 isaac.perception.RangeToPointCloud |       0 |     0.00 |     0.00 |     -inf |    0.0 % |    0.0 % |
|                   isaac.sick_lidar_2d.TiM5xxFamily |       0 |     0.00 |     0.00 |     0.00 |    0.0 % |    0.0 % |
|                                  lidar_initializer |       1 |     0.02 |     0.02 |     0.02 |    0.0 % |    0.0 % |
|                     isaac.viewers.PointCloudViewer |       0 |     0.00 |     0.00 |     -inf |    0.0 % |    0.0 % |
|                                     WebsightServer |   45839 |     5.11 |     5.13 |     7.76 |   99.7 % |    0.0 % |
|=====================================================================================================================|

@skk1 you should be able to use the 571 driver by only adjusting IP and path to Isaac. Regarding the commands used, 551 and 571 are API compatible.

@MarkusMitM I am working in the same team with @skk1 .

I tried out the sick_lidar_2d drivers for TiM551 by altering just the IP address in the config section of the tim571_sample.app.json file and the path to Isaac. However, when I run the application I get the following error :

mv@mv:~/Tim_sick_1/sick_scan_nvidia_isaac$ bazel run packages/sick_lidar_2d/apps/tim5xx_sample
DEBUG: Rule 'org_tuxfamily_eigen' indicated that a canonical reproducible form can be obtained by modifying arguments shallow_since = "1544551075 +0100"
DEBUG: Repository org_tuxfamily_eigen instantiated at:
  no stack (--record_rule_instantiation_callstack not enabled)
Repository rule new_git_repository defined at:
  /home/mv/.cache/bazel/_bazel_mv/2840db8618036b9038859e2afa862a17/external/bazel_tools/tools/build_defs/repo/git.bzl:182:22: in <toplevel>
DEBUG: Rule 'isaac_assets' indicated that a canonical reproducible form can be obtained by modifying arguments sha256 = "032d56b65d17acf360cab1145e57cdeb0a0d2e25814624a90d44766e624e40f1"
DEBUG: Repository isaac_assets instantiated at:
  no stack (--record_rule_instantiation_callstack not enabled)
Repository rule http_archive defined at:
  /home/mv/.cache/bazel/_bazel_mv/2840db8618036b9038859e2afa862a17/external/bazel_tools/tools/build_defs/repo/http.bzl:336:16: in <toplevel>
INFO: Analyzed target //packages/sick_lidar_2d/apps:tim5xx_sample (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
Target //packages/sick_lidar_2d/apps:tim5xx_sample up-to-date:
  bazel-bin/packages/sick_lidar_2d/apps/run_tim5xx_sample
  bazel-bin/packages/sick_lidar_2d/apps/tim5xx_sample
INFO: Elapsed time: 8.349s, Critical Path: 8.12s
INFO: 3 processes: 3 linux-sandbox.
INFO: Build completed successfully, 4 total actions
INFO: Build completed successfully, 4 total actions
2021-08-02 16:50:14.956 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@183: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2021-08-02 16:50:14.956 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2021-08-02 16:50:14.957 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@200: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2021-08-02 16:50:14.957 WARN  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@341: No default execution groups specified. Attempting to create scheduler configuration for 16 remaining cores. This may be non optimal for the system and application.
2021-08-02 16:50:14.957 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@291: Scheduler execution groups are:
2021-08-02 16:50:14.957 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __BlockerGroup__: Cores = [2, 3, 4, 5], Workers = No
2021-08-02 16:50:14.957 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __WorkerGroup__: Cores = [15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 1, 0], Workers = Yes
2021-08-02 16:50:14.966 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'external/com_nvidia_isaac_sdk/packages/perception/libperception_module.so': Now has 39 components total
2021-08-02 16:50:14.971 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'external/com_nvidia_isaac_sdk/packages/sight/libsight_module.so': Now has 43 components total
2021-08-02 16:50:14.981 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'external/com_nvidia_isaac_sdk/packages/viewers/libviewers_module.so': Now has 76 components total
2021-08-02 16:50:14.990 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sick_lidar_2d/libsick_lidar_2d_module.so': Now has 77 components total
2021-08-02 16:50:14.990 INFO  external/com_nvidia_isaac_sdk/packages/sight/sight_start.cpp@157: Loading websight...
2021-08-02 16:50:14.990 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 77 components: isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::sick_lidar_2d::TiM5xxFamily, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2021-08-02 16:50:14.991 WARN  external/com_nvidia_isaac_engine/engine/alice/application.cpp@173: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2021-08-02 16:50:14.991 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 77 components: isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::perception::BirdViewProjection, isaac::perception::ColorSpaceConverter, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateObstacleDistances, isaac::perception::FreespaceToFlatscan, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::perception::StereoRectification, isaac::sick_lidar_2d::TiM5xxFamily, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2021-08-02 16:50:14.991 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Config.cpp@89: Could not deserialize configuration parameter 'tim571/isaac.sick_lidar_2d.TiM5xxFamily/start_angle to necessary type
2021-08-02 16:50:14.991 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Config.cpp@89: Could not deserialize configuration parameter 'tim571/isaac.sick_lidar_2d.TiM5xxFamily/stop_angle to necessary type
2021-08-02 16:50:14.992 INFO  external/com_nvidia_isaac_engine/engine/alice/application.cpp@295: Starting application 'tim571_sample' (instance UUID: '622834a0-f3ec-11eb-b0b2-ff831a336012') ...
2021-08-02 16:50:14.992 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2021-08-02 16:50:14.992 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2021-08-02 16:50:14.992 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2021-08-02 16:50:14.992 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2021-08-02 16:50:14.997 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@247: Sight webserver is loaded
2021-08-02 16:50:14.997 INFO  external/com_nvidia_isaac_sdk/packages/sight/WebsightServer.cpp@248: Please open Chrome Browser and navigate to http://<ip address>:3000
2021-08-02 16:50:14.997 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2021-08-02 16:50:14.997 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2021-08-02 16:50:15.036 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet '_check_operating_system/isaac.alice.CheckOperatingSystem' was not added to scheduler because no tick method is specified.
2021-08-02 16:50:15.036 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2021-08-02 16:50:15.036 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
**2021-08-02 16:50:15.037 INFO  packages/sick_lidar_2d/components/TiM5xxFamily.cpp@41: model �ǵO�**
**2021-08-02 16:50:15.037 INFO  packages/sick_lidar_2d/components/TiM5xxFamily.cpp@42: ip �ǵO�**
2021-08-02 16:50:15.039 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.039] SSBL INFO: Testing if device supports desired protocol...

2021-08-02 16:50:15.040 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.040] SSBL INFO: Connecting to 192.168.1.23 on port 2112

2021-08-02 16:50:15.040 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.040] SSBL INFO: Connection to 192.168.1.23 on port 2112 established.

2021-08-02 16:50:15.046 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.046] SSBL INFO: Connecting to 192.168.1.23 on port 2112

2021-08-02 16:50:15.046 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.046] SSBL INFO: Connection to 192.168.1.23 on port 2112 established.

2021-08-02 16:50:15.565 WARN  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@43: [23:50:15.565] SSBL WARNING: Sensor request failed with error code: 0x0008

2021-08-02 16:50:15.567 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [23:50:15.567] SSBL ERROR: Error when trying to write variable ScanDataConfig

2021-08-02 16:50:15.567 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [23:50:15.567] SSBL ERROR: Error during transition from Error to BusyIdle

2021-08-02 16:50:15.567 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [23:50:15.567] SSBL ERROR: Configuration error

2021-08-02 16:50:15.567 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@229: Component 'tim571/isaac.sick_lidar_2d.TiM5xxFamily' of type 'isaac::sick_lidar_2d::TiM5xxFamily' reported FAILURE:

    Failed to initialize Lidar

2021-08-02 16:50:15.567 ERROR external/com_nvidia_isaac_engine/engine/alice/backend/event_manager.cpp@43: Stopping node 'tim571' because it reached status 'FAILURE'
2021-08-02 16:50:15.568 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
====================================================================================================
|                            Isaac application terminated unexpectedly                             |
====================================================================================================
#01 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x6cc1a) [0x559356091c1a]
#02 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xe3e80) [0x559356108e80]
#03 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xe41f0) [0x5593561091f0]
#04 /lib/x86_64-linux-gnu/libpthread.so.0(+0x12980) [0x7fd95f8cc980]
#05 ssbl::Socket::OnReceive() /home/mv/.cache/bazel/_bazel_mv/2840db8618036b9038859e2afa862a17/execroot/sick_sensor/bazel-out/k8-opt/bin/packages/sick_lidar_2d/apps/tim5xx_sample.runfiles/sick_sensor//packages/sick_lidar_2d/libsick_lidar_2d_module.so(_ZN4ssbl6Socket9OnReceiveEv+0xac) [0x7fd955c4af1c]
#06 ssbl::Socket::impl::TaskLoop() /home/mv/.cache/bazel/_bazel_mv/2840db8618036b9038859e2afa862a17/execroot/sick_sensor/bazel-out/k8-opt/bin/packages/sick_lidar_2d/apps/tim5xx_sample.runfiles/sick_sensor//packages/sick_lidar_2d/libsick_lidar_2d_module.so(_ZN4ssbl6Socket4impl8TaskLoopEv+0x95) [0x7fd955c4b335]
#07 ssbl::Task::InternalEntry() /home/mv/.cache/bazel/_bazel_mv/2840db8618036b9038859e2afa862a17/execroot/sick_sensor/bazel-out/k8-opt/bin/packages/sick_lidar_2d/apps/tim5xx_sample.runfiles/sick_sensor//packages/sick_lidar_2d/libsick_lidar_2d_module.so(_ZN4ssbl4Task13InternalEntryEv+0x99) [0x7fd955c3b619]
#08 ssbl::Task::impl::Entry(void*) /home/mv/.cache/bazel/_bazel_mv/2840db8618036b9038859e2afa862a17/execroot/sick_sensor/bazel-out/k8-opt/bin/packages/sick_lidar_2d/apps/tim5xx_sample.runfiles/sick_sensor//packages/sick_lidar_2d/libsick_lidar_2d_module.so(_ZN4ssbl4Task4impl5EntryEPv+0x9) [0x7fd955c3b659]
#09 /lib/x86_64-linux-gnu/libpthread.so.0(+0x76db) [0x7fd95f8c16db]
#10 /lib/x86_64-linux-gnu/libc.so.6(clone+0x3f) [0x7fd95f04971f]
====================================================================================================
Minidump written to: /tmp/06bd21b7-8268-49c8-ae1ae5a0-111aba59.dmp
Segmentation fault (core dumped)

I noticed one more thing, when I try to cross verify the model and IP address being passed to the constructor of the Lidar2d class, I get some random values.
I used the below to print within TiM5xxFamily.cpp,

LOG_INFO("model %s",get_model());
  LOG_INFO("ip %s",get_ip());

The output of the LOG_INFO statements can be seen above (also adding here for clear visibility) in the snippet.

**2021-08-02 16:50:15.037 INFO  packages/sick_lidar_2d/components/TiM5xxFamily.cpp@41: model �ǵO�**
**2021-08-02 16:50:15.037 INFO  packages/sick_lidar_2d/components/TiM5xxFamily.cpp@42: ip �ǵO�**

Can you please tell me how to proceed with solving this issue?
Since we are on a Time Sensitive project, any help would be appreciated. Thank you!

Dear @mv06,

mhh - passing variables through the JSON script used to work with older versions. Maybe some person from Nvidia or more knowledge of Isaac can help with that.

Now, you could try to hard-code the variables to assure that this error relates to the parameter passing mechanism.

In packages/sick_lidar_2d/components/TiM5xxFamily.cpp replace

pLidar = CreateSickLidar2d(get_model(), get_ip())

with

pLidar = CreateSickLidar2d("TiM571", "x.x.x.x");

where “x.x.x.x” is your desired IP.

So, thats one thing that might be an issue, but I think your issue is somewhere else.

2021-08-02 16:50:15.039 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.039] SSBL INFO: Testing if device supports desired protocol...
2021-08-02 16:50:15.040 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.040] SSBL INFO: Connecting to 192.168.1.23 on port 2112
2021-08-02 16:50:15.040 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.040] SSBL INFO: Connection to 192.168.1.23 on port 2112 established.
2021-08-02 16:50:15.046 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.046] SSBL INFO: Connecting to 192.168.1.23 on port 2112
2021-08-02 16:50:15.046 INFO  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@40: [23:50:15.046] SSBL INFO: Connection to 192.168.1.23 on port 2112 established.
2021-08-02 16:50:15.565 WARN  packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@43: [23:50:15.565] SSBL WARNING: Sensor request failed with error code: 0x0008
2021-08-02 16:50:15.567 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [23:50:15.567] SSBL ERROR: Error when trying to write variable ScanDataConfig
2021-08-02 16:50:15.567 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [23:50:15.567] SSBL ERROR: Error during transition from Error to BusyIdle
2021-08-02 16:50:15.567 ERROR packages/sick_lidar_2d/components/SSBL_Wrapper.cpp@46: [23:50:15.567] SSBL ERROR: Configuration error

The first connection is opened up to figure out if the sensor is using CoLa A or CoLa B. In case the sensor is using CoLa A, the code requests the sensor to switch to CoLa B, if the sensor is already using CoLa B, nothing is done. The second connect is made using the desired CoLa B protocol.

The error code 0x0008 (Buffer underflow) makes me think that the sensor is still using CoLa A. Did you update your fork so that it is using V0.0.3?

If so, could you provide me a wirehark log?

Protocols + Error Codes:

@MarkusMitM ,

Thank you for the quick reply.

I am using V0.0.3 as can be seen in the image above.
I also tried hard coding the model and Ip address, but it doesn’t make any difference.

Can you please tell me how to obtain the wireshark log ? I tried doing a wireshark capture for the sensor network but I don’t see any packets coming from the sensor. Do I look for TCP packets or UDP packets?

@mv14

a) you need to watch out for TCP Packets. For your reference I’ve attached a log (192.168.100.236 is a TiM5x1)
Connect.pcapng (164.0 KB)

b) I’m quite sure the protocol switching is broken in V0.0.3. I’ve fixed it and published V0.0.4, but I have no access to a Linux machine at the moment so I can only test the base library under windows. I’ve updated the isaac layer, but I guess it will take until next week to test it.

To make one step ahead I’d recommend to use the base library

without the isaac layer. The most trivial way is to use VS2019 on Windows. On Linux you could change the cmake command to:

cmake -G"Eclipse CDT4 - Ninja" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_INSTALL_PREFIX=./install ..
cmake -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_INSTALL_PREFIX=./install ..

This way you could at least debug using a GUI (VS or Eclipse with CDT plugin).