Kortex ros2 control node crashes when using octomap with gen3 arm

[keenan88]

Hello,

Project Goal

I am trying to integrate the kortex control nodes with Moveit2's octomap functionality.

Steps Taken

I have added a 3d_sensors.yaml file to the moveit configuration in kinova_gen3_6dof_robotiq_2f_85_moveit_config/config.

Observed Behaviour

When I provide pointcloud data from a realsense to the topic specified in the 3d_sensors.yaml file, I see an octomap populate in RVIZ, with voxels. After a few seconds, the ros2 control node crashes (output linked below). This is the behaviour on my Lenovo Legion 15ACH6, using USB 3.2 ports with 5Gb/s. The USB port is marked with SS. I also have the realsense depth & IR at low res/fps (848x480x5), the octomap refreshing at just 1Hz, and have tried reducing the gen3 refresh rate to 500, 100, and 10Hz. I can run the realsense without feeding its depth information forward to the octomap topic, and no crash occurs.

Using the exact same code, this behaviour does not occur when I use an Intel Nuc10FNH. In USBViewer, the usb ports on the Nuc also show up as Generation 3.2 at 5Gb/s. The USB port is marked with SS (10) and has the blue middle piece (not sure if that is relevant).

Resources

Launch file: moveit_bringup.launch.txt

RVIZ before realsense started & octomap populated:

RVIZ after realsense started & octomap populated:

Terminal output (I put some line breaks between before/after starting the realsense/octomap):
octomap_kortex_output.txt

My project repo: https://github.com/keenan88/isaacsim_ros2_greenhouse/tree/voxels_working

Are there any explanations for this behaviour?

Thank you,

Keenan

[aalmrad]

Hello @keenan88 ,

From your description it seems that your Lenevo PC is facing real-time processing issues and is having a hard time to handle both the sensor's data streams and the robotic arm feedback simultaneously. Can you please provide more info about the following:
1- Can you please provide the specs of both your Lenovo PC and the Intel Nuc10FNH kit?
2- I suppose you are using CycloneDDS, did you try to modify the DDS settings or use a different DDS type?
3- Did you monitor the CPU load and the network latency and jitter on your PC when the timeout happens?

Best,
Abed