Launch fails due to some error in params. #470
Description
IMPORTANT
Before reporting a new bug make sure you have:
- [x ] Checked existing issues https://github.com/ouster-lidar/ouster-ros/issues
- Checked existing discussions https://github.com/ouster-lidar/ouster-ros/discussions
- Checked ouster community https://community.ouster.com/
If you couldn't find relevant information and you think this is rather a driver
problem then proceed with bug reporting.
Describe the bug
The process gets killed after set_config service is created. It seems to be some problem in parameters.
[os_driver-1] [INFO 1752746348.820192197] [ouster.os_driver]: Starting sensor os-122229000150.local initialization... Using ports: 0/0 (create_sensor_client() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node.cpp:416)
[os_driver-1] [2025-07-17 11:59:08.820] [ouster::sensor] [info] initializing sensor client: os-122229000150.local expecting lidar port/imu port: 0/0
[os_driver-1] [2025-07-17 11:59:08.820] [ouster::sensor] [info] (0 means a random port will be chosen)
[os_driver-1] [2025-07-17 11:59:38.626] [ouster::sensor] [info] parsing non-legacy metadata format
[os_driver-1] [INFO 1752746378.629197363] [ouster.os_driver]: No metadata file was specified, using: os-122229000150-metadata.json (save_metadata() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node.cpp:271)
[os_driver-1] [INFO 1752746378.629472061] [ouster.os_driver]: Wrote sensor metadata to os-122229000150-metadata.json (save_metadata() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node.cpp:279)
[os_driver-1] [INFO 1752746378.629500886] [ouster.os_driver]: ouster client version: 0.11.1+483206f-release
[os_driver-1] product: OS-0-128, sn: 122229000150, firmware rev: v2.5.3
[os_driver-1] lidar mode: 512x10, lidar udp profile: RNG19_RFL8_SIG16_NIR16 (display_lidar_info() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node_base.cpp:57)
[os_driver-1] [INFO 1752746378.631241399] [ouster.os_driver]: reset service created (create_reset_service() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node.cpp:337)
[os_driver-1] [INFO 1752746378.632087731] [ouster.os_driver]: get_metadata service created (create_get_metadata_service() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node_base.cpp:38)
[os_driver-1] [INFO 1752746378.632180993] [ouster.os_driver]: get_config service created (create_get_config_service() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node.cpp:370)
[os_driver-1] [INFO 1752746378.632275385] [ouster.os_driver]: set_config service created (create_set_config_service() at /home/fgvt/connRAD/autoware/src/ouster-ros/ouster-ros/src/os_sensor_node.cpp:406)
[ERROR] [os_driver-1]: process has died [pid 47696, exit code -11, cmd '/home/fgvt/connRAD/autoware/install/ouster_ros/lib/ouster_ros/os_driver --ros-args -r __node:=os_driver -r __ns:=/ouster --params-file /tmp/launch_params_jqf2ay3h --params-file /tmp/launch_params_i1zim4y9 --params-file /tmp/launch_params_8jgleswm --params-file /tmp/launch_params_rcme9gvg --params-file /tmp/launch_params_olal6tjk --params-file /tmp/launch_params_ggqepdqx --params-file /tmp/launch_params_vpofj_d1 --params-file /tmp/launch_params__3r3f0g8 --params-file /tmp/launch_params_khaw_qnk --params-file /tmp/launch_params_r0d9_r13 --params-file /tmp/launch_params_m6ee4zdz --params-file /tmp/launch_params_4ragi6s4 --params-file /tmp/launch_params_h14oslzy --params-file /tmp/launch_params_8r27kblc --params-file /tmp/launch_params_5s1c8o5_ --params-file /tmp/launch_params_y602w4q0 --params-file /tmp/launch_params_jyrcenfd --params-file /tmp/launch_params_g3bqmphf --params-file /tmp/launch_params_dzjfv_8_ --params-file /tmp/launch_params_ot6_01e1 --params-file /tmp/launch_params_hil9bwrw --params-file /tmp/launch_params_2sjn60ip --params-file /tmp/launch_params_n_qxh6n7 --params-file /tmp/launch_params_hb7mw1qo --params-file /tmp/launch_params_9e4yoz05 --params-file /tmp/launch_params_x6pprgxc --params-file /tmp/launch_params_k564fguf --params-file /tmp/launch_params__hp8g7v3 --params-file /tmp/launch_params_n7z69w36 --params-file /tmp/launch_params_q2tvlvcr --params-file /tmp/launch_params_i45n8zwo --params-file /tmp/launch_params_2dejoaj3 --params-file /tmp/launch_params_gqyt_ahl --params-file /tmp/launch_params_q6yk16hr'].
This issue occurs only in the latest ouster_ros release. I tried on ouster_ros v0.12.0 and it works just fine.
To Reproduce
Steps to reproduce the behavior (steps below are just an example):
ros2 launch ouster_ros sensor.launch.xml
Screenshots
Platform (please complete the following information):
- Ouster Sensor: OS0
- Ouster Firmware Version: v2.5.3
- ROS version/distro: humble
- Operating System: Linux (Kubuntu 22.04)
- Machine Architecture: x64