PointCloud2Callback not called

[dujeong]

When I checked the voxel_grid topic with rviz2, nothing came out.
So I checked through ros2 topic echo, it was coming out in an empty array ([ ])
(Actual input data(realsense depth pointcloud) came out well.)

I checked and found that stvl could not receive pointcloud data of realsense coming in through input.

As a result of checking by inserting the log as below, the callback function was suddenly not called while receiving it as soon as robot was booted.

/*****************************************************************************/
void SpatioTemporalVoxelLayer::PointCloud2Callback(
  sensor_msgs::msg::PointCloud2::ConstSharedPtr message,
  const std::shared_ptr<buffer::MeasurementBuffer> & buffer)
/*****************************************************************************/
{
  std::cout << "in callback" << std::endl;
  if (!buffer->IsEnabled()) {
    return;
  }
  std::cout << "callback middle" << std::endl;
  // buffer the point cloud
  buffer->Lock();
  buffer->BufferROSCloud(*message);
  buffer->Unlock();
  std::cout << "callback finish" << std::endl;
}

At the beginning of the boot, a few lines were printed, but after 'callback finish', it was no longer printed.

For reference, the parameter enabled also did not work (there is a possibility that the callback related to dynamic reconfiguration also did not work)

The important thing is that sometimes the problem comes out, but sometimes it doesn't.
For your information, the obstacle layer (LaserScan type) used together works well.

I thought it might be an executor problem dealing with callbacks, but for that, LaserScan data is being handled well.

The source version I used is the latest version as of now.

[SteveMacenski]

I need to know alot more information about your setup. What distribution? What DDS vendor? How did you install / build it? What version?

Note: ros-navigation/navigation2#3014

Are you sure that the TF transforms are available? We have a message filter setup on that callback so if it can't be stamped, the callback also isn't triggered. You're welcome to take a look at how we setup the callbacks for PC2 vs LaserScans to see if you can notice a difference - since laser scans don't seem to have that problem.

If you use the normal Voxel Layer do you see this problem? I'm also curious if its a sensor source / networking delay due to the size of the PC2 on your platform.

I know that's a few different questions / topics to go through, but those are the 3 areas I'd start with to see if we can narrow down where the issue is.

[dujeong]

I am sorry for not providing enough information.

• Operating System:
  • Ubuntu 22.04
• ROS2 Version:
  • Humble binaries
• navigation2 Version or commit hash:
  • source build: ca8c4c5f40b6fb852e198b6507e1ca186bce84c6
• DDS implementation:
  • cyclonedds

---

• If you use the normal Voxel Layer do you see this problem?

  • when I set like observation_sources: scan pointcloud in voxel layer, costmap was applied only to scan data.

• /scan topic information (Type: sensor_msgs/msg/LaserScan)

  <<< publisher >>>
  Node name: scan_merger_1
  Node namespace: /
  Topic type: sensor_msgs/msg/LaserScan
  Endpoint type: PUBLISHER
  GID: 01.10.13.7c.3f.aa.49.d1.7b.32.14.a2.00.00.4a.03.00.00.00.00.00.00.00.00
  QoS profile:
    Reliability: BEST_EFFORT
    History (Depth): KEEP_LAST (5)
    Durability: VOLATILE
    Lifespan: Infinite
    Deadline: Infinite
    Liveliness: AUTOMATIC
    Liveliness lease duration: Infinite
  
  <<< subscriber >>>
  Node name: local_costmap
  Node namespace: /local_costmap
  Topic type: sensor_msgs/msg/LaserScan
  Endpoint type: SUBSCRIPTION
  GID: 01.10.c8.68.70.d7.71.88.26.fa.40.fc.00.00.6f.04.00.00.00.00.00.00.00.00
  QoS profile:
    Reliability: BEST_EFFORT
    History (Depth): KEEP_LAST (50)
    Durability: VOLATILE
    Lifespan: Infinite
    Deadline: Infinite
    Liveliness: AUTOMATIC
    Liveliness lease duration: Infinite
  

• /realsense2_camera_1/depth/color/points topic information

  Type: sensor_msgs/msg/PointCloud2
  
  <<< publisher >>>
  Node name: realsense2_camera_1
  Node namespace: /
  Topic type: sensor_msgs/msg/PointCloud2
  Endpoint type: PUBLISHER
  GID: 01.10.04.4f.8c.a2.e6.a4.8f.37.64.81.00.00.16.03.00.00.00.00.00.00.00.00
  QoS profile:
    Reliability: RELIABLE
    History (Depth): KEEP_LAST (10)
    Durability: VOLATILE
    Lifespan: Infinite
    Deadline: Infinite
    Liveliness: AUTOMATIC
    Liveliness lease duration: Infinite
    
  <<< subscriber >>>
  Node name: local_costmap
  Node namespace: /local_costmap
  Topic type: sensor_msgs/msg/PointCloud2
  Endpoint type: SUBSCRIPTION
  GID: 01.10.c8.68.70.d7.71.88.26.fa.40.fc.00.00.70.04.00.00.00.00.00.00.00.00
  QoS profile:
    Reliability: BEST_EFFORT
    History (Depth): KEEP_LAST (50)
    Durability: VOLATILE
    Lifespan: Infinite
    Deadline: Infinite
    Liveliness: AUTOMATIC
    Liveliness lease duration: Infinite

[dujeong]

@SteveMacenski
As you said, I thought it might be a network problem, so I proceeded with DDS tuning.

Then I succeeded.
Actually, I typed sudo sysctl -w net.core.rmem_max=2147483647, then succeeded!
I set it up for both remote pc and robot.

Thank you for your insightful reply.

[dujeong]

but enabled parameter is still not working.

[GPrathap]

I had the same issue solution was to install cyclone dds, #250

[GPrathap]

After some time, issues start even with cyclone dds. I need to restart it several times to get it working,
I've set these values but it seems to still message for point clouds disappeared

    net.core.rmem_max=5147483647
    net.core.rmem_default=5147483647

[dujeong]

@GPrathap Why don't you put up a new issue if the issue persists?

[GPrathap]

Sorry, I forgot to update, whenever I start the docker, I have to run sudo sysctl -w net.core.rmem_max=2147483647 . Then it is fine. Putting in /etc/sysctl.d/10-cyclone-max.conf does not work.