Issues with ouster connection in real flights

[lidiaxp]

Hi,

I am attempting to fly the T650 frame in indoor environments but am experiencing communication issues with the Ouster sensor. During flight, I notice that the Ouster panel intermittently stops functioning without any log errors, causing both A-LOAM and odometry to cease as well. Although the Ouster eventually resumes operation, the odometry does not recover.

Do you have any recommendations on how to prevent the Ouster from losing connection? I suspect that drone vibrations might be disconnecting the Ethernet cable or another connection, but I am unsure how to resolve this issue.

Additionally, a quickly and not related question, how can I add the point cloud to the RealSense camera in the simulation? I have found instructions for integrating it with the physical camera, but I am uncertain which launch file the RealSense uses in the simulated environment.

Thank you for your assistance.