好几个雷达接收不到点云数据

[will222]

日志：

root@jyserver-NF5280M5:/home/lidarRosDriver/ws_livox# ros2 launch livox_ros_driver2 HAP_launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-22-05-31-48-379391-jyserver-NF5280M5-417
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [livox_ros_driver2_node-1]: process started with pid [418]
[livox_ros_driver2_node-1] [INFO] [1724304708.484596389] [livox_lidar_publisher]: Livox Ros Driver2 Version: 1.0.0
[livox_ros_driver2_node-1] [INFO] [1724304708.485207510] [livox_lidar_publisher]: Data Source is raw lidar.
[livox_ros_driver2_node-1] [INFO] [1724304708.485233212] [livox_lidar_publisher]: Config file : /home/lidarRosDriver/ws_livox/install/livox_ros_driver2/share/livox_ros_driver2/launch_ROS2/../config/HAP_config.json
[livox_ros_driver2_node-1] LdsLidar *GetInstance
[livox_ros_driver2_node-1] config lidar type: 8
[livox_ros_driver2_node-1] successfully parse base config, counts: 12
[livox_ros_driver2_node-1] [INFO] [1724304708.490067051] [livox_lidar_publisher]: Init lds lidar success!
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_169060544.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_303278272.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_387164352.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_286501056.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_269723840.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_336832704.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_219392192.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_202614976.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_185837760.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_252946624.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_353609920.
[livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_236169408.
[livox_ros_driver2_node-1] Init queue, real query size:16.
[livox_ros_driver2_node-1] Lidar[11] storage queue size: 10
[livox_ros_driver2_node-1] Init queue, real query size:16.
[livox_ros_driver2_node-1] Lidar[9] storage queue size: 10
[livox_ros_driver2_node-1] Init queue, real query size:16.
[livox_ros_driver2_node-1] Lidar[10] storage queue size: 10
[livox_ros_driver2_node-1] set pcl data type, handle: 185837760, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 185837760, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 185837760
[livox_ros_driver2_node-1] set pcl data type, handle: 336832704, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 336832704, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 336832704
[livox_ros_driver2_node-1] set pcl data type, handle: 219392192, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 219392192, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 219392192
[livox_ros_driver2_node-1] set pcl data type, handle: 202614976, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 202614976, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 202614976
[livox_ros_driver2_node-1] set pcl data type, handle: 269723840, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 269723840, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 269723840
[livox_ros_driver2_node-1] set pcl data type, handle: 252946624, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 252946624, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 252946624
[livox_ros_driver2_node-1] set pcl data type, handle: 236169408, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 236169408, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 236169408
[livox_ros_driver2_node-1] successfully set data type, handle: 185837760, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 185837760, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.11
[livox_ros_driver2_node-1] successfully change work mode, handle: 185837760
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.11
[livox_ros_driver2_node-1] set pcl data type, handle: 353609920, data type: 1
[livox_ros_driver2_node-1] set scan pattern, handle: 353609920, scan pattern: 0
[livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 353609920
[livox_ros_driver2_node-1] successfully set data type, handle: 219392192, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 219392192, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.13
[livox_ros_driver2_node-1] successfully change work mode, handle: 219392192
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.13
[livox_ros_driver2_node-1] successfully set data type, handle: 202614976, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 202614976, set_bit: 0
[livox_ros_driver2_node-1] successfully set data type, handle: 336832704, set_bit: 2
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.12
[livox_ros_driver2_node-1] successfully change work mode, handle: 202614976
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.12
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 336832704, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.20
[livox_ros_driver2_node-1] successfully change work mode, handle: 336832704
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.20
[livox_ros_driver2_node-1] successfully set data type, handle: 269723840, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 269723840, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.16
[livox_ros_driver2_node-1] successfully change work mode, handle: 269723840
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.16
[livox_ros_driver2_node-1] successfully set data type, handle: 252946624, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 252946624, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.15
[livox_ros_driver2_node-1] successfully change work mode, handle: 252946624
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.15
[livox_ros_driver2_node-1] successfully set data type, handle: 236169408, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 236169408, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.14
[livox_ros_driver2_node-1] successfully change work mode, handle: 236169408
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.14
[livox_ros_driver2_node-1] successfully set data type, handle: 353609920, set_bit: 2
[livox_ros_driver2_node-1] successfully set pattern mode, handle: 353609920, set_bit: 0
[livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.21
[livox_ros_driver2_node-1] successfully change work mode, handle: 353609920
[livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.21
[livox_ros_driver2_node-1] [INFO] [1724304711.512321574] [livox_lidar_publisher]: livox/lidar_192_168_19_15 publish use PointCloud2 format
[livox_ros_driver2_node-1] [INFO] [1724304711.653880036] [livox_lidar_publisher]: livox/lidar_192_168_19_21 publish use PointCloud2 format
[livox_ros_driver2_node-1] [INFO] [1724304711.787655277] [livox_lidar_publisher]: livox/lidar_192_168_19_14 publish use PointCloud2 format

八个hap激光雷达，分为两组，每一组四个激光雷达，连在一个交换机上。

其中一组中，三个激光雷达一直可以读取数据，无论在livox viewer还是 ros驱动。另外一个则都读不到数据，好像坏了。

另外一组，四个激光雷达，在livox viewer中都可以读取数据，使用ros或者直接使用sdk驱动，时而读取不到，时而能读取到。很震惊，很奇怪。

是不是因为网络问题或者电压等等问题，导致的，我很疑惑。

能否给出引发原因或调试思路。

急救！！！

（
补充：

1. 因为当前雷达部署在别地，暂时没人能现场调试。
2. 问题不是配置造成的。第一严格按照官方配置的。第二，问题表现是时而好，时而坏。最初我是配置好，测试通过。现在，偶尔也是可成功读取的。

）