ROS2 驱动思岚G4雷达（ydlidar）- Rviz显示

记录G4雷达的配置

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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

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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swig（3.0或更高版本）

sudo apt-get install python swig
sudo apt-get install python-pip

1.2 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swig，sudo 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_driver

（2）构建ydlidar_ros2_driver包

cd ydlidar_ros2_ws
colcon build --symlink-install

（3）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.sh

3、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_node'params_declare = DeclareLaunchArgument('params_file',default_value=os.path.join(share_dir, 'params', 'ydlidar.yaml'),description='FPath to the ROS2 parameters file to use.')driver_node = LifecycleNode(package='ydlidar_ros2_driver',executable='ydlidar_ros2_driver_node',name='ydlidar_ros2_driver_node',output='screen',emulate_tty=True,parameters=[parameter_file],namespace='/',)tf2_node = Node(package='tf2_ros',executable='static_transform_publisher',name='static_tf_pub_laser',arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],)rviz2_node = Node(package='rviz2',executable='rviz2',name='rviz2',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_node'params_declare = DeclareLaunchArgument('params_file',default_value=os.path.join(share_dir, 'params', 'ydlidar.yaml'),description='FPath to the ROS2 parameters file to use.')driver_node = LifecycleNode(package='ydlidar_ros2_driver',executable='ydlidar_ros2_driver_node',name='ydlidar_ros2_driver_node',output='screen',emulate_tty=True,parameters=[parameter_file],namespace='/',)tf2_node = Node(package='tf2_ros',executable='static_transform_publisher',name='static_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_parameter<std::string>("port");node->get_parameter("port", str_optvalue);///lidar portlaser.setlidaropt(LidarPropSerialPort, str_optvalue.c_str(), str_optvalue.size());///ignore arraystr_optvalue = "";node->declare_parameter<std::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_parameter<std::string>("frame_id");node->get_parameter("frame_id", frame_id);//int property//// lidar baudrateint optval = 230400;node->declare_parameter<int>("baudrate");node->get_parameter("baudrate", optval);laser.setlidaropt(LidarPropSerialBaudrate, &optval, sizeof(int));/// tof lidaroptval = TYPE_TRIANGLE;node->declare_parameter<int>("lidar_type");node->get_parameter("lidar_type", optval);laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));/// device typeoptval = YDLIDAR_TYPE_SERIAL;node->declare_parameter<int>("device_type");node->get_parameter("device_type", optval);laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));/// sample rateoptval = 9;node->declare_parameter<int>("sample_rate");node->get_parameter("sample_rate", optval);laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));/// abnormal countoptval = 4;node->declare_parameter<int>("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_parameter<bool>("fixed_resolution");node->get_parameter("fixed_resolution", b_optvalue);laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));/// rotate 180b_optvalue = true;node->declare_parameter<bool>("reversion");node->get_parameter("reversion", b_optvalue);laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));/// Counterclockwiseb_optvalue = true;node->declare_parameter<bool>("inverted");node->get_parameter("inverted", b_optvalue);laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));b_optvalue = true;node->declare_parameter<bool>("auto_reconnect");node->get_parameter("auto_reconnect", b_optvalue);laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));/// one-way communicationb_optvalue = false;node->declare_parameter<bool>("isSingleChannel");node->get_parameter("isSingleChannel", b_optvalue);laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));/// intensityb_optvalue = false;node->declare_parameter<bool>("intensity");node->get_parameter("intensity", b_optvalue);laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));/// Motor DTRb_optvalue = false;node->declare_parameter<bool>("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_parameter<float>("angle_max");node->get_parameter("angle_max", f_optvalue);laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float));f_optvalue = -180.0f;node->declare_parameter<float>("angle_min");node->get_parameter("angle_min", f_optvalue);laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float));/// unit: mf_optvalue = 64.f;node->declare_parameter<float>("range_max");node->get_parameter("range_max", f_optvalue);laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));f_optvalue = 0.1f;node->declare_parameter<float>("range_min");node->get_parameter("range_min", f_optvalue);laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));/// unit: Hzf_optvalue = 10.f;node->declare_parameter<float>("frequency");node->get_parameter("frequency", f_optvalue);laser.setlidaropt(LidarPropScanFrequency, &f_optvalue, sizeof(float));bool invalid_range_is_inf = false;node->declare_parameter<bool>("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_publisher<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(rclcpp::SensorDataQoS()));auto stop_scan_service =[&laser](const std::shared_ptr<rmw_request_id_t> request_header,const std::shared_ptr<std_srvs::srv::Empty::Request> req,std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool{return laser.turnOff();};auto stop_service = node->create_service<std_srvs::srv::Empty>("stop_scan",stop_scan_service);auto start_scan_service =[&laser](const std::shared_ptr<rmw_request_id_t> request_header,const std::shared_ptr<std_srvs::srv::Empty::Request> req,std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool{return laser.turnOn();};auto start_service = node->create_service<std_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_shared<sensor_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 i=0; 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;
}

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🌸🌸🌸完结撒花🌸🌸🌸

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🌈🌈Redamancy🌈🌈

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