Device Initialization/Stop Fails Intermittently – Need a More Reliable Solution

[VictorMirasierra]

Hi, I am using Unitree 4D LiDAR L1. The problem is that when I try to initialize or put in stanby the LiDAR using "setLidarWorkingMode", it only works some of the time. For instance, I’ll issue a "setLidarWorkingMode(NORMAL)", and sometimes it kicks in, but other times it doesn’t. The same goes for putting it in stanby.

I’ve tried troubleshooting in various ways, but haven’t been able to pin down the exact cause. As a temporary workaround, I’ve resorted to a loop that tries to initialize/stop the device 100 times, hoping that one of those attempts will work. While this does eventually succeed, it's clearly not an ideal solution. I am using:

for( int i = 0; i < numtries ; ++i ) {
self->setLidarWorkingMode(NORMAL);
usleep( 1000 );
}

Is there a more reliable way to set the LiDAR working mode? Can I check its the current working mode?

Thanks for your support.