Publishing Frequency Drops to 1 Hz When Using SICK Picoscan150 Prime with IMU

[Kyros8712]

We are using the SICK Picoscan150 Prime version along with an IMU.
We have observed that the publishing frequency occasionally drops to 1 Hz.
Is there any way to improve or stabilize the publishing frequency?

[gschwsiSICKAG]

Hi @Kyros8712, does this issue mainly occur after startup? If possible, you can record a Wireshark log of the UDP stream between the picoScan150 and your host system. This will help us determine whether the picoScan150 is not sending the packets or if the root cause is on the host side.

[Kyros8712]

When the issue was detected, the cartographer node was also running.
We compared the time when the cartographer node displayed error messages to capture information from Wireshark.

the package version

wireshark

topic frequency

cartographer error message

[rostest]

Hi @Kyros8712,

could you record the traffic with Wireshark (as mentioned by gschwsiSICKAG) so we can analyze this issue?

[Kyros8712]

The following link contains the data I obtained using Wireshark:

https://drive.google.com/drive/folders/1rWk5lRBqGhkfQO9BV9QrH42busG8g2kx?usp=drive_link

I first enabled Wireshark, then used sick_picoscan.launch to start picoscan150, followed by launching Cartographer.

The time when sick_picoscan.launch was started:

The time when Cartographer issued a warning about IMU data stopping updates:

Using the sick_picoscan.launch start time as 0, the IMU data anomaly was detected approximately 523 seconds later:

1739780732.37860192523.59160 − 1739780208.7870243523.591626 = 523.591577594

[rostest]

Thank you for providing the data. We were able to download it. We will discuss internally how to proceed.