Failed to load nodelet [/hesai/pandar_nodelet_manager_cloud]

[alexsaso]

Hi,

I am using PandarXT32-M2X. I have followed the instructions, and successfully installed dependencies, downloaded ROS repo, and built it. I establish connection with the sensor, and source the workspace.

First I wanted to include it into my catkin_ws workspace.

• using catkin_ws workspace (inside /src) where I also have IMU, Velodyne (built using catkin_install_isolated install --use-ninja)

roslaunch hesai_lidar cloud_nodelet.launch 
... logging to /home/aleks/.ros/log/5fe83f08-9a95-11ee-83cf-57b01d242281/roslaunch-voxelgrid-40922.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://voxelgrid:44235/

SUMMARY
========

PARAMETERS
 * /hesai/pandar_nodelet_manager_cloud/coordinate_correction_flag: False
 * /hesai/pandar_nodelet_manager_cloud/data_type: 
 * /hesai/pandar_nodelet_manager_cloud/fixed_frame: 
 * /hesai/pandar_nodelet_manager_cloud/frame_id: hesai_points
 * /hesai/pandar_nodelet_manager_cloud/gps_port: 10110
 * /hesai/pandar_nodelet_manager_cloud/lidar_correction_file: /home/aleks/catki...
 * /hesai/pandar_nodelet_manager_cloud/lidar_recv_port: 2368
 * /hesai/pandar_nodelet_manager_cloud/lidar_type: PandarXT-32
 * /hesai/pandar_nodelet_manager_cloud/multicast_ip: 
 * /hesai/pandar_nodelet_manager_cloud/pcap_file: 
 * /hesai/pandar_nodelet_manager_cloud/pcldata_type: 0
 * /hesai/pandar_nodelet_manager_cloud/publish_type: points
 * /hesai/pandar_nodelet_manager_cloud/server_ip: 192.168.1.201
 * /hesai/pandar_nodelet_manager_cloud/start_angle: 0.0
 * /hesai/pandar_nodelet_manager_cloud/target_frame: 
 * /hesai/pandar_nodelet_manager_cloud/timestamp_type: realtime
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /hesai/
    pandar_nodelet_manager (nodelet/nodelet)
    pandar_nodelet_manager_cloud (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [40930]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5fe83f08-9a95-11ee-83cf-57b01d242281
process[rosout-1]: started with pid [40940]
started core service [/rosout]
process[hesai/pandar_nodelet_manager-2]: started with pid [40947]
process[hesai/pandar_nodelet_manager_cloud-3]: started with pid [40948]
[ INFO] [1702567685.202263979]: Loading nodelet /hesai/pandar_nodelet_manager_cloud of type pandar_pointcloud/CloudNodelet to manager pandar_nodelet_manager with the following remappings:
[ INFO] [1702567685.204236311]: waitForService: Service [/hesai/pandar_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1702567685.217761114]: Initializing nodelet with 4 worker threads.
[ INFO] [1702567685.225926283]: waitForService: Service [/hesai/pandar_nodelet_manager/load_nodelet] is now available.
[ERROR] [1702567685.252041618]: Failed to load nodelet [/hesai/pandar_nodelet_manager_cloud] of type [pandar_pointcloud/CloudNodelet] even after refreshing the cache: Could not find library corresponding to plugin pandar_pointcloud/CloudNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1702567685.252097694]: The error before refreshing the cache was: Could not find library corresponding to plugin pandar_pointcloud/CloudNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1702567685.252286371]: Failed to load nodelet '/hesai/pandar_nodelet_manager_cloud` of type `pandar_pointcloud/CloudNodelet` to manager `pandar_nodelet_manager'
[hesai/pandar_nodelet_manager_cloud-3] process has died [pid 40948, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load pandar_pointcloud/CloudNodelet pandar_nodelet_manager __name:=pandar_nodelet_manager_cloud __log:=/home/aleks/.ros/log/5fe83f08-9a95-11ee-83cf-57b01d242281/hesai-pandar_nodelet_manager_cloud-3.log].
log file: /home/aleks/.ros/log/5fe83f08-9a95-11ee-83cf-57b01d242281/hesai-pandar_nodelet_manager_cloud-3*.log

Since the catkin_ws did not work, I tried to follow the instructions, and created another workspace. Again, I get error when launching, this time different one.

• using rosworkspace workspace (inside /src) (built using catkin_make -DCMAKE_BUILD_TYPE=Release)

roslaunch hesai_lidar cloud_nodelet.launch 
... logging to /home/aleks/.ros/log/3701be4c-9a91-11ee-83cf-57b01d242281/roslaunch-voxelgrid-40695.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://voxelgrid:40705/

SUMMARY
========

PARAMETERS
 * /hesai/pandar_nodelet_manager_cloud/coordinate_correction_flag: False
 * /hesai/pandar_nodelet_manager_cloud/data_type: 
 * /hesai/pandar_nodelet_manager_cloud/fixed_frame: hesai_link
 * /hesai/pandar_nodelet_manager_cloud/frame_id: PandarXT-32
 * /hesai/pandar_nodelet_manager_cloud/gps_port: 10110
 * /hesai/pandar_nodelet_manager_cloud/lidar_correction_file: /home/aleks/roswo...
 * /hesai/pandar_nodelet_manager_cloud/lidar_recv_port: 2368
 * /hesai/pandar_nodelet_manager_cloud/lidar_type: PandarXT-32
 * /hesai/pandar_nodelet_manager_cloud/multicast_ip: 
 * /hesai/pandar_nodelet_manager_cloud/pcap_file: 
 * /hesai/pandar_nodelet_manager_cloud/pcldata_type: 0
 * /hesai/pandar_nodelet_manager_cloud/publish_type: points
 * /hesai/pandar_nodelet_manager_cloud/server_ip: 192.168.1.201
 * /hesai/pandar_nodelet_manager_cloud/start_angle: 0.0
 * /hesai/pandar_nodelet_manager_cloud/target_frame: base_link
 * /hesai/pandar_nodelet_manager_cloud/timestamp_type: realtime
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /hesai/
    pandar_nodelet_manager (nodelet/nodelet)
    pandar_nodelet_manager_cloud (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [40703]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3701be4c-9a91-11ee-83cf-57b01d242281
process[rosout-1]: started with pid [40713]
started core service [/rosout]
process[hesai/pandar_nodelet_manager-2]: started with pid [40720]
process[hesai/pandar_nodelet_manager_cloud-3]: started with pid [40721]
[ INFO] [1702565898.603465848]: Loading nodelet /hesai/pandar_nodelet_manager_cloud of type pandar_pointcloud/CloudNodelet to manager pandar_nodelet_manager with the following remappings:
[ INFO] [1702565898.605263528]: waitForService: Service [/hesai/pandar_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1702565898.624697442]: Initializing nodelet with 4 worker threads.
[ INFO] [1702565898.648103491]: waitForService: Service [/hesai/pandar_nodelet_manager/load_nodelet] is now available.
[ INFO] [1702565898.671724899]: Opening UDP socket: port 2368
[ WARN] [1702565898.686643355]: --------PandarSwift ROS version: PandarSwiftROS_1.0.37--------


[ERROR] [1702565898.688742898]: No calibration angles specified! Using default values!
[ INFO] [1702565898.688920306]: correction angles: /home/aleks/catkin_ws/install_isolated/share/pandar_pointcloud/params/Lidar-Correction-18.csv
[ INFO] [1702565898.698449401]: Reconfigure Request
[ WARN] [1702565898.705380954]: frame_id [PandarXT-32]
[ WARN] [1702565898.705440673]: lidarFiretimeFile []
[ WARN] [1702565898.705490817]: lidarCorrectionFile []
TCP Command Client Init Success!!!
Get data without certification now...
ip: port:9347
inet_pton errno:11, Resource temporarily unavailable
connect server failed
The client failed to send a command by TCP
[ WARN] [1702565898.709540740]: Get lidar calibration filed
[ WARN] [1702565898.709576545]: load correction file from local correction.csv now!
[ WARN] [1702565898.709631170]: Open correction file failed

[ WARN] [1702565898.709789547]: node_type[lidar]
set environment TZ=UTC1
[ WARN] [1702565898.710085219]: DriverReadThread:get thead 139946409064192, policy 0 and priority 0

[ WARN] [1702565898.710194916]: publishPointsThread:set result [1]
[ WARN] [1702565898.710330150]: publishPointsThread:get thead 139946400671488, policy 0 and priority 0

[ WARN] [1702567319.096557683]: Pandar poll() timeout
[ WARN] [1702567320.096886917]: Pandar poll() timeout
[ WARN] [1702567321.098050496]: Pandar poll() timeout
[ WARN] [1702567322.099225111]: Pandar poll() timeout
[ WARN] [1702567323.099459596]: Pandar poll() timeout
[ WARN] [1702567324.100606980]: Pandar poll() timeout

Did anyone encounter the same issue and knows how to solve it?

Regards,
Aleks