System Resource Utilization

Oct 13, 2025 by ludoplayers7.com 50 views

Introduction

In this article, we will explore the issue of multi OS1-128 LiDAR initialization on a Jetson AGX Orin board using ROS2 Humble. The problem arises when trying to connect and simultaneously use four OS1-128 LiDAR sensors with the board. One or two of the LiDARs repeatedly attempt to initialize during runtime, while occasionally all four LiDARs successfully initialize and run simultaneously.

System Configuration

The system configuration consists of a Jetson AGX Orin board, four OS1-128 LiDAR sensors, and a ROS2 Humble installation. The launch file used is a modified version of driver_launch.py, and each LiDAR has a unique IP address and a different port number. The udp_dest parameter is set to the Jetson PC's IP address, and the Lidar Mode is set to 1024x10, with Timestamp Mode set to TIME_FROM_PTP_1588.

Launch File Configuration

The launch file is generated using the generate_launch_description function, which creates an IncludeLaunchDescription action for each sensor. The create_driver_launch function is used to create an IncludeLaunchDescription action for a specific sensor. The function takes a sensor ID as an argument and returns a pair of DeclareLaunchArgument and IncludeLaunchDescription actions.

from pathlib import Path
import launch
from ament_index_python.packages import get_package_share_directory
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource

def create_driver_launch(sensor_id: int):
    """
    Create an IncludeLaunchDescription action for a specific sensor.
    """
    ouster_ros_pkg_dir = get_package_share_directory('ouster_ros')
    params_file = LaunchConfiguration(f'params_file_{sensor_id}')
    params_file_arg = DeclareLaunchArgument(
        f'params_file_{sensor_id}',
        default_value=str(Path(ouster_ros_pkg_dir) / 'config' / f'os_sensor_cloud_image_params_{sensor_id}.yaml'),
        description=f'Parameters file for Ouster sensor {sensor_id}'
    )
    driver_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([str(Path(ouster_ros_pkg_dir) / 'launch' / 'sensor.composite.launch.py')]),
        launch_arguments={
            'params_file': params_file,
            'ouster_ns': f'ouster{sensor_id}',
            'os_driver_name': f'ouster_driver_{sensor_id}',
            'viz': 'False',
            'rviz_config': './install/ouster_ros/share/ouster_ros/config/community_driver.rviz'
        }.items()
    )
    return params_file_arg, driver_launch

def generate_launch_description():
    """
    Generate launch description for running multiple Ouster ROS sensor nodes.
    """
    sensors = [1, 2, 3, 4]  # List of sensor IDs
    launch_elements = [create_driver_launch(sensor) for sensor in sensors]
    return launch.LaunchDescription([elem for pair in launch_elements for elem in pair])

Troubleshooting Steps

To troubleshoot the issue, we have taken the following steps:

Power Issues: We connected the power supplies of each LiDAR to separate power sources, but the problem persisted.
Bandwidth Issues: We modified the MTU settings and recv buffer size, but the problem remains.

System Resource Utilization

The CPU RAM usage on the Jetson board is approximately 3.3/64 GB, and the power consumption is around 3.2 W.

Suggestions

Based on the troubleshooting steps taken, we suggest the following:

Check Network Configuration: Verify that the network configuration is correct and that the LiDARs are connected to the correct IP addresses and ports.
Check LiDAR Settings: Verify that the LiDAR settings are correct and that the LiDARs are configured to use the correct mode and timestamp settings.
Check ROS2 Configuration: Verify that the ROS2 configuration is correct and that the ROS2 nodes are properly configured to communicate with the LiDARs.
Check System Resource Utilization: Verify that the system resource utilization is within the recommended limits and that the system is not overloaded.

Conclusion

Q: What is the issue with the multi OS1-128 LiDAR initialization on the Jetson AGX Orin board using ROS2 Humble?

A: The issue arises when trying to connect and simultaneously use four OS1-128 LiDAR sensors with the board. One or two of the LiDARs repeatedly attempt to initialize during runtime, while occasionally all four LiDARs successfully initialize and run simultaneously.

Q: What are the system configuration and launch file configuration?

A: The system configuration consists of a Jetson AGX Orin board, four OS1-128 LiDAR sensors, and a ROS2 Humble installation. The launch file used is a modified version of driver_launch.py, and each LiDAR has a unique IP address and a different port number. The udp_dest parameter is set to the Jetson PC's IP address, and the Lidar Mode is set to 1024x10, with Timestamp Mode set to TIME_FROM_PTP_1588.

Q: What are the troubleshooting steps taken to resolve the issue?

A: The troubleshooting steps taken include:

Power Issues: We connected the power supplies of each LiDAR to separate power sources, but the problem persisted.
Bandwidth Issues: We modified the MTU settings and recv buffer size, but the problem remains.

Q: What are the system resource utilization and power consumption?

A: The CPU RAM usage on the Jetson board is approximately 3.3/64 GB, and the power consumption is around 3.2 W.

Q: What are the suggestions to resolve the issue?

A: Based on the troubleshooting steps taken, we suggest the following:

Check Network Configuration: Verify that the network configuration is correct and that the LiDARs are connected to the correct IP addresses and ports.
Check LiDAR Settings: Verify that the LiDAR settings are correct and that the LiDARs are configured to use the correct mode and timestamp settings.
Check ROS2 Configuration: Verify that the ROS2 configuration is correct and that the ROS2 nodes are properly configured to communicate with the LiDARs.
Check System Resource Utilization: Verify that the system resource utilization is within the recommended limits and that the system is not overloaded.

Q: What is the conclusion of the troubleshooting process?

A: In conclusion, the multi OS1-128 LiDAR initialization issue on the Jetson AGX Orin board using ROS2 Humble is a complex issue that requires careful troubleshooting and analysis. By following the troubleshooting steps outlined in this article, we can identify and resolve the issue and ensure that the LiDARs are properly initialized and functioning correctly.

Q: What are the future steps to take?

A: Future steps to take include:

Further Troubleshooting: Continue to troubleshoot the issue and identify the root cause.
System Configuration Optimization: Optimize the system configuration to ensure that the LiDARs are properly initialized and functioning correctly.
ROS2 Configuration Optimization: Optimize the ROS2 configuration to ensure that the ROS2 nodes are properly configured to communicate with the LiDARs.

Q: What are the benefits of resolving the issue?

A: Resolving the issue will ensure that the LiDARs are properly initialized and functioning correctly, which will enable the use of the LiDARs in various applications, such as robotics, autonomous vehicles, and surveillance systems.