# \#driveworks-lidar **URL:** https://forums.developer.nvidia.com/tag/driveworks-lidar/159.md [Latest](https://forums.developer.nvidia.com/latest.md) · [Categories](https://forums.developer.nvidia.com/categories.md) · [Tags](https://forums.developer.nvidia.com/tags.md) --- ## [Sample\_lidar\_replay continuously reports gap in sensor timestamps](https://forums.developer.nvidia.com/t/sample-lidar-replay-continuously-reports-gap-in-sensor-timestamps/376240)
**Author:** [@david.cattley](https://forums.developer.nvidia.com/u/david.cattley)\ **Replies:** 11\ **Last updated:** [September 10, 2026, 5:28pm UTC](https://forums.developer.nvidia.com/t/sample-lidar-replay-continuously-reports-gap-in-sensor-timestamps/376240 "2026-09-10T17:28:45Z")
DRIVE OS Version: 7.0.3 Issue Description: When processing a live lidar stream from a Velodyne VLS128 with sample\_lidar\_replay the tool continously reports a message indicating a gap in sensor timestamps. Command used: … --- ## [Sample\_lidar\_replay continously reports invalid packet shortly after startin replay of recording](https://forums.developer.nvidia.com/t/sample-lidar-replay-continously-reports-invalid-packet-shortly-after-startin-replay-of-recording/376243)
**Author:** [@david.cattley](https://forums.developer.nvidia.com/u/david.cattley)\ **Replies:** 12\ **Last updated:** [August 26, 2026, 3:32am UTC](https://forums.developer.nvidia.com/t/sample-lidar-replay-continously-reports-invalid-packet-shortly-after-startin-replay-of-recording/376243 "2026-08-26T03:32:15Z")
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 see… --- ## [Thor LiDAR Plugin: No Point Cloud in sample\_lidar\_replay](https://forums.developer.nvidia.com/t/thor-lidar-plugin-no-point-cloud-in-sample-lidar-replay/374519)
**Author:** [@guyuechao](https://forums.developer.nvidia.com/u/guyuechao)\ **Replies:** 4\ **Last updated:** [June 30, 2026, 8:54am UTC](https://forums.developer.nvidia.com/t/thor-lidar-plugin-no-point-cloud-in-sample-lidar-replay/374519 "2026-06-30T08:54:35Z")
DRIVE OS Version: 7.0.3 Issue Description: I developed a new LiDAR plugin with reference to the NVLidar Plugin. However, the point cloud fails to render when using the sample\_lidar\_replay tool. I added debug logs to… --- ## [Should the default sample\_lidar\_replay initialize a TimeSensor](https://forums.developer.nvidia.com/t/should-the-default-sample-lidar-replay-initialize-a-timesensor/369578)
**Author:** [@ussama.naal](https://forums.developer.nvidia.com/u/ussama.naal)\ **Replies:** 3\ **Last updated:** [June 1, 2026, 7:18am UTC](https://forums.developer.nvidia.com/t/should-the-default-sample-lidar-replay-initialize-a-timesensor/369578 "2026-06-01T07:18:44Z")
DRIVE OS Version: 7.0.3 Issue Description: Should the default sample\_lidar\_replay initialize a TimeSensor? Following up on my previous question TimeSensor::addData() Buffer full, draining data I don’t understand the re… --- ## [Lidar Calibration: Egomotion relative transform always Identity (DW\_EGOMOTION\_ODOMETRY), ICP works](https://forums.developer.nvidia.com/t/lidar-calibration-egomotion-relative-transform-always-identity-dw-egomotion-odometry-icp-works/360331)
**Author:** [@Jis](https://forums.developer.nvidia.com/u/Jis)\ **Replies:** 6\ **Last updated:** [February 23, 2026, 11:41am UTC](https://forums.developer.nvidia.com/t/lidar-calibration-egomotion-relative-transform-always-identity-dw-egomotion-odometry-icp-works/360331 "2026-02-23T11:41:55Z")
Hi everyone, I’m trying to run/modify the DriveWorks lidar calibration sample (calibration\_hesai / lidar\_calibration\_sample style workflow) on my own dataset (Hesai AT128 via CUSTOM\_EX plugin + CAN replay). ICP runs fin… --- ## [Replayer tool lidar errors](https://forums.developer.nvidia.com/t/replayer-tool-lidar-errors/348084)
**Author:** [@ales.gabrhelik1](https://forums.developer.nvidia.com/u/ales.gabrhelik1)\ **Replies:** 5\ **Last updated:** [November 26, 2025, 7:08am UTC](https://forums.developer.nvidia.com/t/replayer-tool-lidar-errors/348084 "2025-11-26T07:08:53Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [Unable to replay recorded bin file](https://forums.developer.nvidia.com/t/unable-to-replay-recorded-bin-file/344594)
**Author:** [@mukund.viswanathan](https://forums.developer.nvidia.com/u/mukund.viswanathan)\ **Replies:** 12\ **Last updated:** [October 8, 2025, 12:53pm UTC](https://forums.developer.nvidia.com/t/unable-to-replay-recorded-bin-file/344594 "2025-10-08T12:53:25Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [Help understanding point cloud stitching & rig.json for LiDARs ( on Orin)](https://forums.developer.nvidia.com/t/help-understanding-point-cloud-stitching-rig-json-for-lidars-on-orin/344612)
**Author:** [@Jis](https://forums.developer.nvidia.com/u/Jis)\ **Replies:** 1\ **Last updated:** [September 16, 2025, 6:49am UTC](https://forums.developer.nvidia.com/t/help-understanding-point-cloud-stitching-rig-json-for-lidars-on-orin/344612 "2025-09-16T06:49:28Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK oth… --- ## [Multiple lidars calibration](https://forums.developer.nvidia.com/t/multiple-lidars-calibration/343317)
**Author:** [@ales.gabrhelik1](https://forums.developer.nvidia.com/u/ales.gabrhelik1)\ **Replies:** 2\ **Last updated:** [September 3, 2025, 9:35am UTC](https://forums.developer.nvidia.com/t/multiple-lidars-calibration/343317 "2025-09-03T09:35:31Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [Ouster OS1-128 multicast not working](https://forums.developer.nvidia.com/t/ouster-os1-128-multicast-not-working/337718)
**Author:** [@adityen.sudhakaran](https://forums.developer.nvidia.com/u/adityen.sudhakaran)\ **Replies:** 3\ **Last updated:** [July 14, 2025, 7:29am UTC](https://forums.developer.nvidia.com/t/ouster-os1-128-multicast-not-working/337718 "2025-07-14T07:29:15Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [Unable to view recorded lidar data](https://forums.developer.nvidia.com/t/unable-to-view-recorded-lidar-data/338386)
**Author:** [@atharv.sharma](https://forums.developer.nvidia.com/u/atharv.sharma)\ **Replies:** 11\ **Last updated:** [July 9, 2025, 2:23pm UTC](https://forums.developer.nvidia.com/t/unable-to-view-recorded-lidar-data/338386 "2025-07-09T14:23:49Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [VLP-16HR device is provided with lidar.socket, however Driveworks is rejecting it](https://forums.developer.nvidia.com/t/vlp-16hr-device-is-provided-with-lidar-socket-however-driveworks-is-rejecting-it/333520)
**Author:** [@ashwin.nanda](https://forums.developer.nvidia.com/u/ashwin.nanda)\ **Replies:** 13\ **Last updated:** [June 20, 2025, 10:40am UTC](https://forums.developer.nvidia.com/t/vlp-16hr-device-is-provided-with-lidar-socket-however-driveworks-is-rejecting-it/333520 "2025-06-20T10:40:20Z")
Please provide the following info (tick the boxes after creating this topic): Software Version \[\*\] DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK … --- ## [Need support for connecting Ouster128 Lidar with Drive AGX Orin](https://forums.developer.nvidia.com/t/need-support-for-connecting-ouster128-lidar-with-drive-agx-orin/315428)
**Author:** [@prachi.agashe](https://forums.developer.nvidia.com/u/prachi.agashe)\ **Replies:** 6\ **Last updated:** [December 9, 2024, 4:16am UTC](https://forums.developer.nvidia.com/t/need-support-for-connecting-ouster128-lidar-with-drive-agx-orin/315428 "2024-12-09T04:16:15Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [Implementing custom GMSL camera driver for Lidar device](https://forums.developer.nvidia.com/t/implementing-custom-gmsl-camera-driver-for-lidar-device/312845)
**Author:** [@moshe.cikk](https://forums.developer.nvidia.com/u/moshe.cikk)\ **Replies:** 1\ **Last updated:** [November 11, 2024, 1:06pm UTC](https://forums.developer.nvidia.com/t/implementing-custom-gmsl-camera-driver-for-lidar-device/312845 "2024-11-11T13:06:57Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [Support for Connecting OUSTER OS0 Lidar with Nvidia Drive Xavier (Drive OS 5.2.6)](https://forums.developer.nvidia.com/t/support-for-connecting-ouster-os0-lidar-with-nvidia-drive-xavier-drive-os-5-2-6/308522)
**Author:** [@zizzi](https://forums.developer.nvidia.com/u/zizzi)\ **Replies:** 2\ **Last updated:** [October 15, 2024, 10:36am UTC](https://forums.developer.nvidia.com/t/support-for-connecting-ouster-os0-lidar-with-nvidia-drive-xavier-drive-os-5-2-6/308522 "2024-10-15T10:36:11Z")
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 … --- ## [Should I use Aurix gPTP for my 2 Orin setup for time-synchronized lidar recording?](https://forums.developer.nvidia.com/t/should-i-use-aurix-gptp-for-my-2-orin-setup-for-time-synchronized-lidar-recording/304292)
**Author:** [@adas\_1](https://forums.developer.nvidia.com/u/adas_1)\ **Replies:** 3\ **Last updated:** [October 3, 2024, 11:43am UTC](https://forums.developer.nvidia.com/t/should-i-use-aurix-gptp-for-my-2-orin-setup-for-time-synchronized-lidar-recording/304292 "2024-10-03T11:43:50Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [How to process Lidar point cloud data?](https://forums.developer.nvidia.com/t/how-to-process-lidar-point-cloud-data/305916)
**Author:** [@akshay.tupkar](https://forums.developer.nvidia.com/u/akshay.tupkar)\ **Replies:** 6\ **Last updated:** [September 20, 2024, 5:35am UTC](https://forums.developer.nvidia.com/t/how-to-process-lidar-point-cloud-data/305916 "2024-09-20T05:35:00Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 \[1\] DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK … --- ## [How to perform obstacle detection by LIdar point cloud data?](https://forums.developer.nvidia.com/t/how-to-perform-obstacle-detection-by-lidar-point-cloud-data/306409)
**Author:** [@akshay.tupkar](https://forums.developer.nvidia.com/u/akshay.tupkar)\ **Replies:** 3\ **Last updated:** [September 19, 2024, 8:10am UTC](https://forums.developer.nvidia.com/t/how-to-perform-obstacle-detection-by-lidar-point-cloud-data/306409 "2024-09-19T08:10:56Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 \[1\] DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK … --- ## [Using PTP with 2 Drive Orin AGXs and multiple lidar](https://forums.developer.nvidia.com/t/using-ptp-with-2-drive-orin-agxs-and-multiple-lidar/304290)
**Author:** [@adas\_1](https://forums.developer.nvidia.com/u/adas_1)\ **Replies:** 7\ **Last updated:** [September 19, 2024, 7:56am UTC](https://forums.developer.nvidia.com/t/using-ptp-with-2-drive-orin-agxs-and-multiple-lidar/304290 "2024-09-19T07:56:43Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [Creating custom lidar sensor plugin for Drive AGX Orin](https://forums.developer.nvidia.com/t/creating-custom-lidar-sensor-plugin-for-drive-agx-orin/304940)
**Author:** [@ashwin.nanda](https://forums.developer.nvidia.com/u/ashwin.nanda)\ **Replies:** 3\ **Last updated:** [September 19, 2024, 3:58am UTC](https://forums.developer.nvidia.com/t/creating-custom-lidar-sensor-plugin-for-drive-agx-orin/304940 "2024-09-19T03:58:00Z")
Please provide the following info (tick the boxes after creating this topic): Software Version \[\*\] DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK … --- ## [Supported lidar sensors on drive Orin](https://forums.developer.nvidia.com/t/supported-lidar-sensors-on-drive-orin/305016)
**Author:** [@akshay.tupkar](https://forums.developer.nvidia.com/u/akshay.tupkar)\ **Replies:** 6\ **Last updated:** [September 19, 2024, 3:08am UTC](https://forums.developer.nvidia.com/t/supported-lidar-sensors-on-drive-orin/305016 "2024-09-19T03:08:27Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 \[1\] DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK … --- ## [Why were custom radar and lidar plugins moved to "dw/sensors/legacy" directory?](https://forums.developer.nvidia.com/t/why-were-custom-radar-and-lidar-plugins-moved-to-dw-sensors-legacy-directory/304942)
**Author:** [@iurii2](https://forums.developer.nvidia.com/u/iurii2)\ **Replies:** 2\ **Last updated:** [August 29, 2024, 3:30pm UTC](https://forums.developer.nvidia.com/t/why-were-custom-radar-and-lidar-plugins-moved-to-dw-sensors-legacy-directory/304942 "2024-08-29T15:30:52Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.10.0 DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK ot… --- ## [How to Simulate an Area Array Laser for LiDAR](https://forums.developer.nvidia.com/t/how-to-simulate-an-area-array-laser-for-lidar/303590)
**Author:** [@Julie\_A](https://forums.developer.nvidia.com/u/Julie_A)\ **Replies:** 14\ **Last updated:** [August 26, 2024, 10:12am UTC](https://forums.developer.nvidia.com/t/how-to-simulate-an-area-array-laser-for-lidar/303590 "2024-08-26T10:12:04Z")
It is a pity that I encountered problems during the use of isaac sim. I want to know if “area array laser for LiDAR” can be simulated in IsaacSim. I tried to use RTX lidar and Phyx Lidar to adjust the FOV for simulation,… --- ## [Connection Issue while connecting Velodyne Lidar VLP-16](https://forums.developer.nvidia.com/t/connection-issue-while-connecting-velodyne-lidar-vlp-16/297277)
**Author:** [@prit.shah](https://forums.developer.nvidia.com/u/prit.shah)\ **Replies:** 9\ **Last updated:** [June 25, 2024, 2:41pm UTC](https://forums.developer.nvidia.com/t/connection-issue-while-connecting-velodyne-lidar-vlp-16/297277 "2024-06-25T14:41:44Z")
Please provide the following info (tick the boxes after creating this topic): Software Version \[\*\] DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK other Target Opera… --- ## [Failed to access lidar Data on Drive AGX Orin](https://forums.developer.nvidia.com/t/failed-to-access-lidar-data-on-drive-agx-orin/289180)
**Author:** [@chintan.patel2](https://forums.developer.nvidia.com/u/chintan.patel2)\ **Replies:** 3\ **Last updated:** [April 15, 2024, 6:21pm UTC](https://forums.developer.nvidia.com/t/failed-to-access-lidar-data-on-drive-agx-orin/289180 "2024-04-15T18:21:48Z")
Please provide the following info (tick the boxes after creating this topic): Software Version \[\*\] DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK other Target Opera… --- ## [Request for Guidance on creating Virtual LiDAR on NVIDIA Orin Platform](https://forums.developer.nvidia.com/t/request-for-guidance-on-creating-virtual-lidar-on-nvidia-orin-platform/287018)
**Author:** [@shweta.jadhav](https://forums.developer.nvidia.com/u/shweta.jadhav)\ **Replies:** 3\ **Last updated:** [March 26, 2024, 8:26am UTC](https://forums.developer.nvidia.com/t/request-for-guidance-on-creating-virtual-lidar-on-nvidia-orin-platform/287018 "2024-03-26T08:26:26Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK \[✓\] other Target Opera… --- ## [Visualizing Custom Lidar Sensor](https://forums.developer.nvidia.com/t/visualizing-custom-lidar-sensor/285576)
**Author:** [@prachi.agashe](https://forums.developer.nvidia.com/u/prachi.agashe)\ **Replies:** 1\ **Last updated:** [March 11, 2024, 9:25am UTC](https://forums.developer.nvidia.com/t/visualizing-custom-lidar-sensor/285576 "2024-03-11T09:25:52Z")
Please provide the following info (tick the boxes after creating this topic): Software Version DRIVE OS 6.0.8.1 DRIVE OS 6.0.6 DRIVE OS 6.0.5 DRIVE OS 6.0.4 (rev. 1) DRIVE OS 6.0.4 SDK other Target Operatin… --- ## [Feed vehicle states to calibration engine without using VehicleIO and CAN modules](https://forums.developer.nvidia.com/t/feed-vehicle-states-to-calibration-engine-without-using-vehicleio-and-can-modules/265086)
**Author:** [@ruohua.li](https://forums.developer.nvidia.com/u/ruohua.li)\ **Replies:** 0\ **Last updated:** [August 31, 2023, 6:39pm UTC](https://forums.developer.nvidia.com/t/feed-vehicle-states-to-calibration-engine-without-using-vehicleio-and-can-modules/265086 "2023-08-31T18:39:36Z")
Hello, We are working on DriveWorks SDK version 5.8 and target device is AGX Orin. We are trying to perform dynamic LiDAR calibration via DriveWorks’ LiDAR self-calibration functionality. Upon reviewing the related AP… --- ## [Is there any way to get Lidar Elongation or Ring index? Driveworks](https://forums.developer.nvidia.com/t/is-there-any-way-to-get-lidar-elongation-or-ring-index-driveworks/256758)
**Author:** [@user142014](https://forums.developer.nvidia.com/u/user142014)\ **Replies:** 5\ **Last updated:** [July 27, 2023, 4:20pm UTC](https://forums.developer.nvidia.com/t/is-there-any-way-to-get-lidar-elongation-or-ring-index-driveworks/256758 "2023-07-27T16:20:50Z")
Hi, i know in Lidar.h there is only xyzi or rthi for coord system. How to get the elongation or Ring index? like in Waymo or Nuscenes feature num Please provide the following info (check/uncheck the boxes after creating… --- ## [Error using Ouster2-128 with Drivesoftware 10.0](https://forums.developer.nvidia.com/t/error-using-ouster2-128-with-drivesoftware-10-0/260564)
**Author:** [@ikhalip](https://forums.developer.nvidia.com/u/ikhalip)\ **Replies:** 1\ **Last updated:** [July 20, 2023, 8:03pm UTC](https://forums.developer.nvidia.com/t/error-using-ouster2-128-with-drivesoftware-10-0/260564 "2023-07-20T20:03:54Z")
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 … [Next page](https://forums.developer.nvidia.com/tag/driveworks-lidar/159.md?match_all_tags=true&page=1&tags%5B%5D=driveworks-lidar)