fix crashes when using vls128 in organized mode #413
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Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com>
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@ros-pull-request-builder retest this please |
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@JWhitleyWork if you have the time, could you have a brief look at this? I believe the test failing could again be due to non-determinism and timing effects. |
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Closing/re-opening to kick CI. |
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You are correct. The CI failures are due only to publishing frequency issues. Approving and merging. |
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@bst Can you please also forward-port this to the |
JWhitleyWork
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May 29, 2023
* Update rolling ci (#512) Fix Rolling CI and associated linter errors. * Add support for the velodyne Alpha Prime (#370) * Add support for the velodyne Alpha Prime * Change packet rate for the VLS128 according to the times specified in the manual * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. * Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de> * Add VLS128 launch and calibration file (#382) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * vls128: add line only once all four banks are processed (#413) Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: apply uncrustify Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fixing incorrect type in velodyne_pointcloud. * Fixed non working vls128 fork * Added organized cloud compliance and remove some useless code * Corrected the azimuth offset calculation and put the declation of variable where there are used * Fix linter errors. --------- Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com> Co-authored-by: Joshua Whitley <josh@electrifiedautonomy.com> Co-authored-by: Institute for Autonomous Systems Technology <tas@unibw.de> Co-authored-by: jugo <juan.gonzalez@unibw.de> Co-authored-by: Sebastian Scherer <sebastian.scherer2@de.bosch.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Mtestor <mucevval@gmail.com>
JWhitleyWork
added a commit
that referenced
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May 29, 2023
* Update rolling ci (#512) Fix Rolling CI and associated linter errors. * Add support for the velodyne Alpha Prime (#370) * Add support for the velodyne Alpha Prime * Change packet rate for the VLS128 according to the times specified in the manual * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. * Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de> * Add VLS128 launch and calibration file (#382) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * vls128: add line only once all four banks are processed (#413) Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: apply uncrustify Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fixing incorrect type in velodyne_pointcloud. * Fixed non working vls128 fork * Added organized cloud compliance and remove some useless code * Corrected the azimuth offset calculation and put the declation of variable where there are used * Fix linter errors. --------- Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com> Co-authored-by: Joshua Whitley <josh@electrifiedautonomy.com> Co-authored-by: Institute for Autonomous Systems Technology <tas@unibw.de> Co-authored-by: jugo <juan.gonzalez@unibw.de> Co-authored-by: Sebastian Scherer <sebastian.scherer2@de.bosch.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Mtestor <mucevval@gmail.com>
JWhitleyWork
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May 31, 2023
* feat: support vls128 for ros2 (#493) * Update rolling ci (#512) Fix Rolling CI and associated linter errors. * Add support for the velodyne Alpha Prime (#370) * Add support for the velodyne Alpha Prime * Change packet rate for the VLS128 according to the times specified in the manual * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. * Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de> * Add VLS128 launch and calibration file (#382) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * vls128: add line only once all four banks are processed (#413) Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: apply uncrustify Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fixing incorrect type in velodyne_pointcloud. * Fixed non working vls128 fork * Added organized cloud compliance and remove some useless code * Corrected the azimuth offset calculation and put the declation of variable where there are used * Fix linter errors. --------- Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com> Co-authored-by: Joshua Whitley <josh@electrifiedautonomy.com> Co-authored-by: Institute for Autonomous Systems Technology <tas@unibw.de> Co-authored-by: jugo <juan.gonzalez@unibw.de> Co-authored-by: Sebastian Scherer <sebastian.scherer2@de.bosch.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Mtestor <mucevval@gmail.com> * Fix double include --------- Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Sebastian Scherer (CR/AAS3) <sebastian.scherer2@de.bosch.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Institute for Autonomous Systems Technology <tas@unibw.de> Co-authored-by: jugo <juan.gonzalez@unibw.de> Co-authored-by: Sebastian Scherer <sebastian.scherer2@de.bosch.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Mtestor <mucevval@gmail.com>
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This PR fixes a bug in
RawData::unpack_vls128()which leads to the driver crashing whenorganize_cloudis enabled.Steps to reproduce:
roslaunch velodyne_pointcloud VLS128_points.launch organize_cloud:=truevelodyne_points[velodyne_nodelet_manager-1] process has diedExplanation and fix:
RawData::unpack_vls128()starts a new line of the point cloud after each block. A block in case of the vls128 , however, only contains data from a bank of 32 of the 128 lasers. A line of the point cloud must therefore consist of four blocks, i.e. data of four banks.VLS128_BANK_1,VLS128_BANK_2,VLS128_BANK_3,VLS128_BANK_4, so it was enough to start a new line after each block corresponding toVLS128_BANK_4.