Unable to receive UDP packets

[aakashsehgal]

I am using the Hesai 128 Lidar simulation model inside VTD. For that I have a UDP transfer application which reads the lidar point cloud information from the shared memory and send it over via UDP packets on 127.0.0.1 and port 2368.
Now i installed ROS on the same machine and also the ROS driver "HesaiLidar_Swift_ROS". Inside the launch file, I changed the device ip to 127.0.0.1 and the port is the same. However when i start the launch file, it fails to connect to the server and thus does not receive any UDP packets. Also a strange thing is that it tries to connect to port 9347 instead of 2368.

I can see the packets in wireshark.

`SUMMARY

PARAMETERS

• /hesai/PandarSwift_nodelet_manager_cloud/ca_file:
• /hesai/PandarSwift_nodelet_manager_cloud/calibration: /home/avl/ROS/ros...
• /hesai/PandarSwift_nodelet_manager_cloud/cert_file:
• /hesai/PandarSwift_nodelet_manager_cloud/channel_config_file: /home/avl/ROS/ros...
• /hesai/PandarSwift_nodelet_manager_cloud/coordinate_correction_flag: False
• /hesai/PandarSwift_nodelet_manager_cloud/device_ip: 127.0.0.1
• /hesai/PandarSwift_nodelet_manager_cloud/firetime_file: /home/avl/ROS/ros...
• /hesai/PandarSwift_nodelet_manager_cloud/frame_id: PandarSwift
• /hesai/PandarSwift_nodelet_manager_cloud/host_ip:
• /hesai/PandarSwift_nodelet_manager_cloud/max_range: 130.0
• /hesai/PandarSwift_nodelet_manager_cloud/min_range: 0.5
• /hesai/PandarSwift_nodelet_manager_cloud/multicast_ip:
• /hesai/PandarSwift_nodelet_manager_cloud/pcap:
• /hesai/PandarSwift_nodelet_manager_cloud/port: 2368
• /hesai/PandarSwift_nodelet_manager_cloud/private_key_file:
• /hesai/PandarSwift_nodelet_manager_cloud/publish_model: both_point_raw
• /hesai/PandarSwift_nodelet_manager_cloud/read_fast: False
• /hesai/PandarSwift_nodelet_manager_cloud/read_once: False
• /hesai/PandarSwift_nodelet_manager_cloud/repeat_delay: 0.0
• /hesai/PandarSwift_nodelet_manager_cloud/rpm: 600.0
• /hesai/PandarSwift_nodelet_manager_cloud/start_angle: 0.0
• /rosdistro: noetic
• /rosversion: 1.17.0

NODES
/hesai/
PandarSwift_nodelet_manager (nodelet/nodelet)
PandarSwift_nodelet_manager_cloud (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [94859]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 47fe88f2-a0d4-11ef-8dc1-9bb873a3c1d0
process[rosout-1]: started with pid [94876]
started core service [/rosout]
process[hesai/PandarSwift_nodelet_manager-2]: started with pid [94883]
process[hesai/PandarSwift_nodelet_manager_cloud-3]: started with pid [94884]
[ INFO] [1731401907.721987074]: Loading nodelet /hesai/PandarSwift_nodelet_manager_cloud of type pandar_pointcloud/CloudNodelet to manager PandarSwift_nodelet_manager with the following remappings:
[ INFO] [1731401907.727366499]: waitForService: Service [/hesai/PandarSwift_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1731401907.729553784]: Initializing nodelet with 8 worker threads.
[ INFO] [1731401907.748141276]: waitForService: Service [/hesai/PandarSwift_nodelet_manager/load_nodelet] is now available.
[ INFO] [1731401907.755015465]: Only accepting packets from IP address: 127.0.0.1
[ INFO] [1731401907.755082423]: Opening UDP socket: port 2368
[ WARN] [1731401907.757466629]: --------PandarSwift ROS version: PandarSwiftROS_1.0.37--------

[ INFO] [1731401907.758011359]: correction angles: /home/avl/ROS/rosworkspace/src/HesaiLidar_Swift_ROS/pandar_pointcloud/params/Pandar128_Correction.csv
parsing correction file.
[ INFO] [1731401907.760274579]: Reconfigure Request
[ WARN] [1731401907.762129781]: frame_id [PandarSwift]
[ WARN] [1731401907.762155418]: lidarFiretimeFile [/home/avl/ROS/rosworkspace/src/HesaiLidar_Swift_ROS/pandar_pointcloud/params/Pandar128_Firetimes.csv]
[ WARN] [1731401907.762163360]: lidarCorrectionFile [/home/avl/ROS/rosworkspace/src/HesaiLidar_Swift_ROS/pandar_pointcloud/params/Pandar128_Correction.csv]
TCP Command Client Init Success!!!
Get data without certification now...
ip:127.0.0.1 port:9347
connect errno:111, Connection refused
connect server failed
The client failed to send a command by TCP
[ WARN] [1731401907.762715897]: Get lidar calibration filed
[ WARN] [1731401907.762728868]: load correction file from local correction.csv now!
[ WARN] [1731401907.762764017]: Open correction file success
[ WARN] [1731401907.762806124]: Parse Lidar Correction...
[ WARN] [1731401907.762997333]: Parse local Correction file Success!!!
Parse Lidar firetime now...
[ WARN] [1731401907.763120530]: node_type[lidar]
set environment TZ=UTC1
[ WARN] [1731401907.763202459]: node.advertise pandar_points
[ WARN] [1731401907.763226212]: DriverReadThread:get thead 140433720063744, policy 0 and priority 0

[ WARN] [1731401907.763518031]: publishPointsThread:set result [1]
[ WARN] [1731401907.763587417]: publishPointsThread:get thead 140433703278336, policy 0 and priority 0

[ WARN] [1731401907.763600788]: publishRawDataThread:set result [1]
[ WARN] [1731401907.763621190]: publishRawDataThread:get thead 140433216763648, policy 0 and priority 0
`