ROS2 driver pointcloud data lost

[ahuazuipiaoliang]

Describe the bug
sometimes the pointcloud data lost when use the ROS2 driver for OS1 128 REV7

To Reproduce
Steps to reproduce the behavior (steps below are just an example):

1. source ros environment
2. compile the project workspace
3. source the project workspace
4. ros launch ouster_ros sensor.launch.xml
5. automatically open Rviz2
6. observe the issue ...

Screenshots

abnormal data

normal data

Platform (please complete the following information):

• Ouster Sensor?
  OS1 128 REV7
• Ouster Firmware Version?
  
• ROS version/distro?
  Humble
• Operating System?
  Ubuntu 22.04
• Machine Architecture?
  x86
• git commit hash (if not the latest).
  13171a8

[ahuazuipiaoliang]

more abnormal screenshots

[Samahu]

Hi @ahuazuipiaoliang, we do have have some upcoming changes the would help with the issue. In the meantime, could you try to increase the receive buffer on our system and see if that helps out:

sudo sysctl -w net.core.rmem_default=16777216
sudo sysctl -w net.core.rmem_max=16777216

[ahuazuipiaoliang]

@Samahu I found the data lost problem was caused by the hardware, since I switched to a new LiDAR the problem disappeared. I will close the issue.

[Samahu]

Fixed per (included in) #262