Setting proc_mask once bricks the driver

[themightyoarfish]

Describe the bug

I launch the driver node like this

ros2 launch ouster_ros sensor.launch.xml  sensor_hostname:=os-122307000738.local lidar_mode:=1024x20 viz:=false udp_profile_lidar:=RNG19_RFL8_SIG16_NIR16

And get some data on the /ouster/points topic at very low frequency (different issue…). If however, I stop the driver and add the proc_mask argument and restart with e.g. proc_mask:=PCL, no point clouds are being generated. If I then restart the driver with the default value of proc_mask:='IMG|PCL|IMU|SCAN', still nothing.
The /ouster/points topic does not get published. It seems none of the publishers come up, but nothing alarming is getting logged. Despite the fact that the logging says a "reset service" was created, ros2 service call /ouster/reset std_srvs/srv/Empty just waits for it to become available.

…
[os_driver-1] [INFO] [1727868077.595491890] [ouster.os_driver]: auto start requested
[os_driver-1] [INFO] [1727868078.595938256] [ouster.os_driver]: auto start initiated
[os_driver-1] [INFO] [1727868078.745839196] [ouster.os_driver]: Retrived sensor active config
[os_driver-1] [INFO] [1727868078.745948114] [ouster.os_driver]: Will send UDP data to 169.254.204.196
[os_driver-1] [INFO] [1727868078.745967214] [ouster.os_driver]: Contacting sensor os-122307000738.local ...
[os_driver-1] [INFO] [1727868078.841318538] [ouster.os_driver]: Sensor os-122307000738.local configured successfully
[os_driver-1] [INFO] [1727868078.841431937] [ouster.os_driver]: Starting sensor os-122307000738.local initialization... Using ports: 7502/7503
[os_driver-1] [2024-10-02 13:21:18.841] [ouster::sensor] [info] initializing sensor client: os-122307000738.local expecting lidar port/imu port: 7502/7503
[os_driver-1] [2024-10-02 13:21:19.033] [ouster::sensor] [info] parsing non-legacy metadata format
[os_driver-1] [INFO] [1727868079.036441063] [ouster.os_driver]: No metadata file was specified, using: os-122307000738-metadata.json
[os_driver-1] [INFO] [1727868079.036761554] [ouster.os_driver]: Wrote sensor metadata to os-122307000738-metadata.json
[os_driver-1] [INFO] [1727868079.036803072] [ouster.os_driver]: ouster client version: 0.11.1+483206f-release
[os_driver-1] product: OS-1-128, sn: 122307000738, firmware rev: v3.0.1
[os_driver-1] lidar mode: 1024x20, lidar udp profile: RNG19_RFL8_SIG16_NIR16
[os_driver-1] [INFO] [1727868079.037431122] [ouster.os_driver]: reset service created
[os_driver-1] [INFO] [1727868079.037862657] [ouster.os_driver]: get_metadata service created
[os_driver-1] [INFO] [1727868079.038084166] [ouster.os_driver]: get_config service created
[os_driver-1] [INFO] [1727868079.038302050] [ouster.os_driver]: set_config service created

A computer reboot solved this last time, but I would like to know what the problem is.

To Reproduce
see above.

Platform (please complete the following information):

• Ouster Sensor? OS1-128 rev7
• Ouster Firmware Version? v3.0.1
• ROS version/distro? humble
• Operating System? ubuntu mate 22.04
• Machine Architecture? x64
• git commit hash (if not the latest): 5dd8555

[themightyoarfish]

It seems that I could work around this by killing the shell/tmux session this was running in, and opening a new one with sourcing the ros and workspace setup files.

[Samahu]

I am unable to re-produce this, probably resolved by some of the change in #380

[Samahu]

@themightyoarfish as I noted earlier I couldn't generate the problem. Could you confirm that the problem persists within 0.13.1 and maybe give more hints that help me re-produce the issue (if still exist). Thanks.

[themightyoarfish]

I will try it again under controlled circumstances next week.

[Samahu]

Could this issue be related? (it doesn't seem like it)

[themightyoarfish]

Can confirm that with current ros2 head (fc911d1), this seems to not occur.

[Samahu]

awesome, thanks for the feedback.