Lidar G4 crashes randomly after hours of operation – "Resource deadlock avoided" error

[brayanpa]

Hello,

We are experiencing random failures with our G4 lidars. After several hours of operation (sometimes after 1 hour, other times after 10 hours), the lidars stop working. Based on our observations, this seems to be caused by the following error:

terminate called after throwing an instance of 'std::system_error'
what():  Resource deadlock avoided

We have multiple G4 lidars, and this issue occurs with all of them. It seems that the number of occurrences has recently increased. Below is the full log from one of the failures:

[ydlidar_driver_front-2] [INFO] [1742480604.825680178] [gary.lidar.front.ydlidar_driver_front]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_driver_front-2] [YDLIDAR] SDK initializing
[ydlidar_driver_front-2] [YDLIDAR] SDK has been initialized
[ydlidar_driver_front-2] [YDLIDAR] SDK Version: 1.2.8
[ydlidar_driver_front-2] [YDLIDAR] Stop Lidar
[ydlidar_driver_front-2] [YDLIDAR] connect, Elapsed time 525 ms
[ydlidar_driver_front-2] [YDLIDAR] Lidar successfully connected [/dev/serial/by-path/platform-3610000.xhci-usb-0:4.4.3:1.0-port0:230400]
[ydlidar_driver_front-2] [YDLIDAR] Lidar running correctly! The health status: good
[ydlidar_driver_front-2] Current Lidar Model Code 5
[ydlidar_driver_front-2] [YDLIDAR] Baseplate device info
[ydlidar_driver_front-2] Firmware version: 3.2
[ydlidar_driver_front-2] Hardware version: 3
[ydlidar_driver_front-2] Model: G4
[ydlidar_driver_front-2] Serial: 2024040900070350
[ydlidar_driver_front-2] [YDLIDAR] Get origin sample rate code: 2
[ydlidar_driver_front-2] [YDLIDAR] Get sample rate: 9.00K
[ydlidar_driver_front-2] [YDLIDAR] Current scan frequency: 12.00Hz
[ydlidar_driver_front-2] [YDLIDAR] Current scan frequency: 12.00Hz
[ydlidar_driver_front-2] [YDLIDAR] Check status, Elapsed time 106 ms
[ydlidar_driver_front-2] [YDLIDAR] Lidar init success, Elapsed time 631 ms
[ydlidar_driver_front-2] [YDLIDAR] Start to getting intensity flag
[ydlidar_driver_front-2] [YDLIDAR] Auto set intensity 0
[ydlidar_driver_front-2] [YDLIDAR] End to getting intensity flag
[ydlidar_driver_front-2] [YDLIDAR] Create thread 0x727FB930
[ydlidar_driver_front-2] [YDLIDAR] Successed to start scan mode, Elapsed time 2473 ms
[ydlidar_driver_front-2] [YDLIDAR] Scan Frequency: 12.00Hz
[ydlidar_driver_front-2] [YDLIDAR] Fixed Size: 750
[ydlidar_driver_front-2] [YDLIDAR] Sample Rate: 9.00K
[ydlidar_driver_front-2] [YDLIDAR] Successed to check the lidar, Elapsed time 0 ms
[ydlidar_driver_front-2] [2025-03-20 14:23:27][info] [YDLIDAR] Now lidar is scanning...
[ydlidar_driver_front-2] [YDLIDAR] Timeout count: 1
[ydlidar_driver_front-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_driver_front-2] [ERROR] [1742493760.925764355] [gary.lidar.front.ydlidar_driver_front]: Failed to get scan
[ydlidar_driver_front-2] [YDLIDAR] Timeout count: 2
[ydlidar_driver_front-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_driver_front-2] [ERROR] [1742493761.926751154] [gary.lidar.front.ydlidar_driver_front]: Failed to get scan
[ydlidar_driver_front-2] [YDLIDAR] Timeout count: 3
[ydlidar_driver_front-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_driver_front-2] [ERROR] [1742493762.927679202] [gary.lidar.front.ydlidar_driver_front]: Failed to get scan
[ydlidar_driver_front-2] [YDLIDAR ERROR]: -1 Device Failed
[ydlidar_driver_front-2] [ERROR] [1742493763.928643124] [gary.lidar.front.ydlidar_driver_front]: Failed to get scan
[ydlidar_driver_front-2] [YDLIDAR] Stop Lidar
[ydlidar_driver_front-2] [YDLIDAR ERROR]: 0 Device Failed
[ydlidar_driver_front-2] [ERROR] [1742493763.939668007] [gary.lidar.front.ydlidar_driver_front]: Failed to get scan
[ydlidar_driver_front-2] terminate called after throwing an instance of 'std::system_error'
[ydlidar_driver_front-2] what():  Resource deadlock avoided
[LAUNCH WARNING] [ydlidar_driver_front-2.launch]: Log 'Failed to get scan' was detected more than 5 times in less than 30.0 seconds, the process will be halted
[LAUNCH WARNING] [ydlidar_driver_front-2.launch]: Terminating process...
[LAUNCH ERROR] [ydlidar_driver_front-2.launch]: process has died [pid 2738125, exit code -6, cmd '/robot/additional_ros_packages/install/lib/ydlidar_ros2_driver/ydlidar_ros2_driver_node --ros-args -r __node:=ydlidar_driver_front -r __ns:=/gary/lidar/front --params-file /robot/build/ros_pkgs/install/gary_lidar/share/gary_lidar/params/front_lidar.yaml --params-file /robot/config/lidar/lidars.ports.config.yaml'].
[LAUNCH ERROR] [ydlidar_driver_front-2.launch]: Process finished unexpectedly

We are using the following SDK commit:
78f9528

And the following ROS2 driver version:
aa9a97b070a1c700f95e5de9244c15c0f7028d76

Any insights on what might be causing this issue? Thanks!