Error, RPLidar internal error detected. Please reboot the device to retry.

[ccorderod]

Hello. I bought 2 Slamtec S2 lidars and I mounted them on 2 iRobot Create3 systems. S2 Lidar is connected to Raspberry Pi4 to 2 USB ports for data and power.

I have the same issue as in #32.

I start ros2 launch create3_lidar_slam sensors_launch.py:

[INFO] [launch]: All log files can be found below /home/ccordero/.ros/log/2024-06-16-10-58-35-788301-sr2-pi-4078 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [static_transform_publisher-1]: process started with pid [4079] [static_transform_publisher-1] [WARN] [1718528316.082610138] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-1] [INFO] [1718528316.131057221] [static_transform_publisher_2IUKlNQnpDZhYiXa]: Spinning until stopped - publishing transform [static_transform_publisher-1] translation: ('-0.012000', '0.000000', '0.144000') [static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-1] from 'base_footprint' to 'laser_frame' [INFO] [rplidar_composition-2]: process started with pid [4090] [rplidar_composition-2] [INFO] [1718528318.143819291] [rplidar_node]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.0.0 [rplidar_composition-2] [INFO] [1718528318.197315042] [rplidar_node]: RPLidar S/N: AAD7ECF8C4E699D7B8EB99F926084717 [rplidar_composition-2] [INFO] [1718528318.197548317] [rplidar_node]: Firmware Ver: 1.01 [rplidar_composition-2] [INFO] [1718528318.197629076] [rplidar_node]: Hardware Rev: 18 [rplidar_composition-2] [INFO] [1718528318.249050535] [rplidar_node]: RPLidar health status : 0 [rplidar_composition-2] [INFO] [1718528318.249217181] [rplidar_node]: RPLidar health status : OK. [rplidar_composition-2] [INFO] [1718528320.262113083] [rplidar_node]: Start [rplidar_composition-2] [INFO] [1718528320.954570804] [rplidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:10.0 Hz,
After running the bot for a couple of minutes, it stops sending to /scan.
I then kill the process and restart with the same command: ros2 launch create3_lidar_slam sensors_launch.py

[INFO] [launch]: All log files can be found below /home/ccordero/.ros/log/2024-06-16-11-01-27-413092-sr2-pi-4113 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [static_transform_publisher-1]: process started with pid [4114] [static_transform_publisher-1] [WARN] [1718528487.724203140] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-1] [INFO] [1718528487.772116859] [static_transform_publisher_Dtu94dUVOSSsyX2S]: Spinning until stopped - publishing transform [static_transform_publisher-1] translation: ('-0.012000', '0.000000', '0.144000') [static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-1] from 'base_footprint' to 'laser_frame' [INFO] [rplidar_composition-2]: process started with pid [4125] [rplidar_composition-2] [INFO] [1718528489.776632797] [rplidar_node]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.0.0 [rplidar_composition-2] [INFO] [1718528489.827139821] [rplidar_node]: RPLidar S/N: AAD7ECF8C4E699D7B8EB99F926084717 [rplidar_composition-2] [INFO] [1718528489.827303504] [rplidar_node]: Firmware Ver: 1.01 [rplidar_composition-2] [INFO] [1718528489.827381133] [rplidar_node]: Hardware Rev: 18 [rplidar_composition-2] [INFO] [1718528489.878809036] [rplidar_node]: RPLidar health status : 2 [rplidar_composition-2] [ERROR] [1718528489.879004478] [rplidar_node]: Error, RPLidar internal error detected. Please reboot the device to retry. [ERROR] [rplidar_composition-2]: process has died [pid 4125, exit code 255, cmd '/opt/ros/humble/lib/rplidar_ros/rplidar_composition --ros-args -r __ns:=/ --params-file /home/ccordero/create3_examples_ws/install/create3_lidar_slam/share/create3_lidar_slam/config/rplidar_node.yaml'].

The only way to recover from there is unplug both usb cables and plug them again.
I have tested both S2 lidars. Same issue.

Would you please let me know how I can fix this behaviour?
Thank you in advance.
Regards. Carlos

[Dkooijman]

I have the same issue, seems also related to Slamtec/rplidar_sdk#76.
have you get any further @ccorderod ?

[ccorderod]

I bought my stuff to https://www.mybotshop.de/ and posted also there my problem. Outstanding support!!!.
Their support suggested to set auto_standby: false on my lidar slam configuration. So I did.
Since then, no health status 2.
The lidar should not enter into standby mode because there is always a some application subscribed to the /scan topic, but mybotshop support told me it may be a bug in slamtec's firmware or a bug on the DDS layer (I use discovery).
Hope this will help you.

[garylee87]

Hi! I was trying to reproduce the symptom but couldn't reproduce the symptom.
Anybody can test if USB power reset works instead of un-pluging the USB cable in case i have a power switch on USB VBUS?