建设网站长沙,软件推广赚钱一个10元,免插件优化wordpress,网站源码之家记录G4雷达的配置 系统环境为#xff1a;Ubuntu22.04 配置步骤
1、安装雷达SDK 2、构建 G4 雷达 ROS2 项目工程文件 3、使用Rviz可视化界面显示 1、安装雷达SDK
1.1 安装CMake
YDLidar SDK需要CMake 2.8.2作为依赖项
Ubuntu 18.04或者Ubuntu 22.04
sudo apt install cmak…记录G4雷达的配置 系统环境为Ubuntu22.04 配置步骤
1、安装雷达SDK 2、构建 G4 雷达 ROS2 项目工程文件 3、使用Rviz可视化界面显示 1、安装雷达SDK
1.1 安装CMake
YDLidar SDK需要CMake 2.8.2作为依赖项
Ubuntu 18.04或者Ubuntu 22.04
sudo apt install cmake pkg-config如果使用python API您需要安装python和swig3.0或更高版本
sudo apt-get install python swig
sudo apt-get install python-pip1.2 构建YDLidar SDK
在YDLidar SDK目录中运行以下命令来编译项目
git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK/build
cmake ..
make
sudo make install注意如果已经安装了python和swigsudo make install命令也将安装python API而无需执行以下操作在这里建议大家还是使用一次 sudo make install 确认安装成功 至此若在编译过程中未出现错误即为SDK安装成功
2、构建 G4 雷达 ROS2 项目工程文件
2.1 编译和安装YDLidar SDK
ydlidar_ros2_driver依赖于ydlidar SDK库。如果从未安装过YDLidar SDK库则必须首先安装YDLidar SDK库具体的可以参考上一点
2.2 Cylinder_ros2_driver克隆
1为github克隆ydlidar_ros2_driver包
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver2构建ydlidar_ros2_driver包
cd ydlidar_ros2_ws
colcon build --symlink-install3程序包环境设置 将工作空间添加到环境变量里面
source ./install/setup.bash同样可以使用比较长久的方法
echo source ~/ydlidar_ros2_ws/install/setup.bash ~/.bashrc
source ~/.bashrc在这里 “~/ydlidar_ros2_ws/install/setup.bash路径要对应上自己的工作空间当中的setup.bash位置。
4确认要确认包路径已设置请打印grep-i ROS变量
printenv | grep -i ROS应该看到类似的内容OLDPWD/home/tony/ydlidar_ros2_ws/install 5创建串行端口别名[可选]
sudo chmod 0777 src/ydlidar_ros2_driver/startup/*
sudo sh src/ydlidar_ros2_driver/startup/initenv.sh3、使用Rviz可视化界面显示
使用启动文件运行ydlidar_ros2_driver
3.1 运行雷达启动launch文件
ros2 launch ydlidar_ros2_driver ydlidar_launch.py 或者
ros2 launch $(ros2 pkg prefix ydlidar_ros2_driver)/share/ydlidar_ros2_driver/launch/ydlidar.py 3.2运行可视化界面
如果想要运行可视化界面的话可以使用一下命令单独在终端里运行即可
ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py 3、查看一下雷达扫描话题信息
ros2 run ydlidar_ros2_driver ydlidar_ros2_driver_client or ros2 topic echo /scan问题解决
1、launch文件修改
在编译过程当中出现了ydlidar_launch_view.py文件或者ydlidar_launch.py文件中的 [ERROR] [launch]: Caught exception in launch LifecycleNode: __init__() missing 1 required keyword-only argument: node_executable 这样的错误警告将两个文件当中含有node_[后缀名称]更改为[后缀名称即可] 例如在本次报错当中需要将LifecycleNode这个节点的node_executable更改为executable即可其他的node_name同样的更改为 name
#!/usr/bin/python3
# Copyright 2020, EAIBOT
# Licensed under the Apache License, Version 2.0 (the License);
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an AS IS BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.from ament_index_python.packages import get_package_share_directoryfrom launch import LaunchDescription
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import LogInfoimport lifecycle_msgs.msg
import osdef generate_launch_description():share_dir get_package_share_directory(ydlidar_ros2_driver)rviz_config_file os.path.join(share_dir, config,ydlidar.rviz)parameter_file LaunchConfiguration(params_file)# node_name ydlidar_ros2_driver_nodeparams_declare DeclareLaunchArgument(params_file,default_valueos.path.join(share_dir, params, ydlidar.yaml),descriptionFPath to the ROS2 parameters file to use.)driver_node LifecycleNode(packageydlidar_ros2_driver,executableydlidar_ros2_driver_node,nameydlidar_ros2_driver_node,outputscreen,emulate_ttyTrue,parameters[parameter_file],namespace/,)tf2_node Node(packagetf2_ros,executablestatic_transform_publisher,namestatic_tf_pub_laser,arguments[0, 0, 0.02,0, 0, 0, 1,base_link,laser_frame],)rviz2_node Node(packagerviz2,executablerviz2,namerviz2,arguments[-d, rviz_config_file],)return LaunchDescription([params_declare,driver_node,tf2_node,rviz2_node,])
上图对应的是 ydlidar_launch_view.py文件然后ydlidar_launch.py文件中对应的两个参数也就是node_executable和node_name 两个变量名字做出修改修改后如下代码所示
#!/usr/bin/python3
# Copyright 2020, EAIBOT
# Licensed under the Apache License, Version 2.0 (the License);
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an AS IS BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.from ament_index_python.packages import get_package_share_directoryfrom launch import LaunchDescription
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import LogInfoimport lifecycle_msgs.msg
import osdef generate_launch_description():share_dir get_package_share_directory(ydlidar_ros2_driver)parameter_file LaunchConfiguration(params_file)# node_name ydlidar_ros2_driver_nodeparams_declare DeclareLaunchArgument(params_file,default_valueos.path.join(share_dir, params, ydlidar.yaml),descriptionFPath to the ROS2 parameters file to use.)driver_node LifecycleNode(packageydlidar_ros2_driver,executableydlidar_ros2_driver_node,nameydlidar_ros2_driver_node,outputscreen,emulate_ttyTrue,parameters[parameter_file],namespace/,)tf2_node Node(packagetf2_ros,executablestatic_transform_publisher,namestatic_tf_pub_laser,arguments[0, 0, 0.02,0, 0, 0, 1,base_link,laser_frame],)return LaunchDescription([params_declare,driver_node,tf2_node,])
建议使用 vscode 编辑器对文本进行更改以便可以重复撤回和更加便携式的文本切换
2、如果出现node节点链接错误
然后就是在编译过程colcon build --symlink-install中如果出现node节点链接错误的情况需要更改当前目录下的 ydlidar_ros2_driver/src/ydlidar_ros2_driver_node.cpp 这个文件内容直接复制替换即可
/** YDLIDAR SYSTEM* YDLIDAR ROS 2 Node** Copyright 2017 - 2020 EAI TEAM* http://www.eaibot.com**//* Modified for Humble by lghrainbow 10/2022 */#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif#include src/CYdLidar.h
#include math.h
#include chrono
#include iostream
#include memory#include rclcpp/clock.hpp
#include rclcpp/rclcpp.hpp
#include rclcpp/time_source.hpp
#include sensor_msgs/msg/laser_scan.hpp
#include std_srvs/srv/empty.hpp
#include vector
#include iostream
#include string
#include signal.h#define ROS2Verision 1.0.2 /* 1.0.1 modified */int main(int argc, char *argv[]) {rclcpp::init(argc, argv);auto node rclcpp::Node::make_shared(ydlidar_ros2_driver_node);RCLCPP_INFO(node-get_logger(), [YDLIDAR INFO] Current ROS Driver Version: %s\n, ((std::string)ROS2Verision).c_str());CYdLidar laser;std::string str_optvalue /dev/ydlidar;node-declare_parameterstd::string(port);node-get_parameter(port, str_optvalue);///lidar portlaser.setlidaropt(LidarPropSerialPort, str_optvalue.c_str(), str_optvalue.size());///ignore arraystr_optvalue ;node-declare_parameterstd::string(ignore_array);node-get_parameter(ignore_array, str_optvalue);laser.setlidaropt(LidarPropIgnoreArray, str_optvalue.c_str(), str_optvalue.size());std::string frame_id laser_frame;node-declare_parameterstd::string(frame_id);node-get_parameter(frame_id, frame_id);//int property//// lidar baudrateint optval 230400;node-declare_parameterint(baudrate);node-get_parameter(baudrate, optval);laser.setlidaropt(LidarPropSerialBaudrate, optval, sizeof(int));/// tof lidaroptval TYPE_TRIANGLE;node-declare_parameterint(lidar_type);node-get_parameter(lidar_type, optval);laser.setlidaropt(LidarPropLidarType, optval, sizeof(int));/// device typeoptval YDLIDAR_TYPE_SERIAL;node-declare_parameterint(device_type);node-get_parameter(device_type, optval);laser.setlidaropt(LidarPropDeviceType, optval, sizeof(int));/// sample rateoptval 9;node-declare_parameterint(sample_rate);node-get_parameter(sample_rate, optval);laser.setlidaropt(LidarPropSampleRate, optval, sizeof(int));/// abnormal countoptval 4;node-declare_parameterint(abnormal_check_count);node-get_parameter(abnormal_check_count, optval);laser.setlidaropt(LidarPropAbnormalCheckCount, optval, sizeof(int));//bool property//// fixed angle resolutionbool b_optvalue false;node-declare_parameterbool(fixed_resolution);node-get_parameter(fixed_resolution, b_optvalue);laser.setlidaropt(LidarPropFixedResolution, b_optvalue, sizeof(bool));/// rotate 180b_optvalue true;node-declare_parameterbool(reversion);node-get_parameter(reversion, b_optvalue);laser.setlidaropt(LidarPropReversion, b_optvalue, sizeof(bool));/// Counterclockwiseb_optvalue true;node-declare_parameterbool(inverted);node-get_parameter(inverted, b_optvalue);laser.setlidaropt(LidarPropInverted, b_optvalue, sizeof(bool));b_optvalue true;node-declare_parameterbool(auto_reconnect);node-get_parameter(auto_reconnect, b_optvalue);laser.setlidaropt(LidarPropAutoReconnect, b_optvalue, sizeof(bool));/// one-way communicationb_optvalue false;node-declare_parameterbool(isSingleChannel);node-get_parameter(isSingleChannel, b_optvalue);laser.setlidaropt(LidarPropSingleChannel, b_optvalue, sizeof(bool));/// intensityb_optvalue false;node-declare_parameterbool(intensity);node-get_parameter(intensity, b_optvalue);laser.setlidaropt(LidarPropIntenstiy, b_optvalue, sizeof(bool));/// Motor DTRb_optvalue false;node-declare_parameterbool(support_motor_dtr);node-get_parameter(support_motor_dtr, b_optvalue);laser.setlidaropt(LidarPropSupportMotorDtrCtrl, b_optvalue, sizeof(bool));//float property//// unit: °float f_optvalue 180.0f;node-declare_parameterfloat(angle_max);node-get_parameter(angle_max, f_optvalue);laser.setlidaropt(LidarPropMaxAngle, f_optvalue, sizeof(float));f_optvalue -180.0f;node-declare_parameterfloat(angle_min);node-get_parameter(angle_min, f_optvalue);laser.setlidaropt(LidarPropMinAngle, f_optvalue, sizeof(float));/// unit: mf_optvalue 64.f;node-declare_parameterfloat(range_max);node-get_parameter(range_max, f_optvalue);laser.setlidaropt(LidarPropMaxRange, f_optvalue, sizeof(float));f_optvalue 0.1f;node-declare_parameterfloat(range_min);node-get_parameter(range_min, f_optvalue);laser.setlidaropt(LidarPropMinRange, f_optvalue, sizeof(float));/// unit: Hzf_optvalue 10.f;node-declare_parameterfloat(frequency);node-get_parameter(frequency, f_optvalue);laser.setlidaropt(LidarPropScanFrequency, f_optvalue, sizeof(float));bool invalid_range_is_inf false;node-declare_parameterbool(invalid_range_is_inf);node-get_parameter(invalid_range_is_inf, invalid_range_is_inf);bool ret laser.initialize();if (ret) {ret laser.turnOn();} else {RCLCPP_ERROR(node-get_logger(), %s\n, laser.DescribeError());}auto laser_pub node-create_publishersensor_msgs::msg::LaserScan(scan, rclcpp::QoS(rclcpp::SensorDataQoS()));auto stop_scan_service [laser](const std::shared_ptrrmw_request_id_t request_header,const std::shared_ptrstd_srvs::srv::Empty::Request req,std::shared_ptrstd_srvs::srv::Empty::Response response) - bool{return laser.turnOff();};auto stop_service node-create_servicestd_srvs::srv::Empty(stop_scan,stop_scan_service);auto start_scan_service [laser](const std::shared_ptrrmw_request_id_t request_header,const std::shared_ptrstd_srvs::srv::Empty::Request req,std::shared_ptrstd_srvs::srv::Empty::Response response) - bool{return laser.turnOn();};auto start_service node-create_servicestd_srvs::srv::Empty(start_scan,start_scan_service);rclcpp::WallRate loop_rate(20);while (ret rclcpp::ok()) {LaserScan scan;//if (laser.doProcessSimple(scan)) {auto scan_msg std::make_sharedsensor_msgs::msg::LaserScan();scan_msg-header.stamp.sec RCL_NS_TO_S(scan.stamp);scan_msg-header.stamp.nanosec scan.stamp - RCL_S_TO_NS(scan_msg-header.stamp.sec);scan_msg-header.frame_id frame_id;scan_msg-angle_min scan.config.min_angle;scan_msg-angle_max scan.config.max_angle;scan_msg-angle_increment scan.config.angle_increment;scan_msg-scan_time scan.config.scan_time;scan_msg-time_increment scan.config.time_increment;scan_msg-range_min scan.config.min_range;scan_msg-range_max scan.config.max_range;int size (scan.config.max_angle - scan.config.min_angle)/ scan.config.angle_increment 1;scan_msg-ranges.resize(size);scan_msg-intensities.resize(size);for(size_t i0; i scan.points.size(); i) {int index std::ceil((scan.points[i].angle - scan.config.min_angle)/scan.config.angle_increment);if(index 0 index size) {scan_msg-ranges[index] scan.points[i].range;scan_msg-intensities[index] scan.points[i].intensity;}}laser_pub-publish(*scan_msg);} else {RCLCPP_ERROR(node-get_logger(), Failed to get scan);}if(!rclcpp::ok()) {break;}rclcpp::spin_some(node);loop_rate.sleep();}RCLCPP_INFO(node-get_logger(), [YDLIDAR INFO] Now YDLIDAR is stopping .......);laser.turnOff();laser.disconnecting();rclcpp::shutdown();return 0;
}完结撒花 Redamancy
