forked from zbw/yiliao2026
改了一下ekf的源码，让odom不再完全相信轮式里程计；手贱删了个.git里的文件导致文件全部重新存，看不了diff了
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.gitignore
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.gitignore
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# Build artifacts
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build
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# Install artifacts
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install
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# Log artifacts
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log
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# VSCode database
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.vscode/browse.vc.db*
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BIN
.vscode/browse.vc.db-shm
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.vscode/c_cpp_properties.json
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.vscode/c_cpp_properties.json
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{
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"configurations": [
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{
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"browse": {
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"databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
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"limitSymbolsToIncludedHeaders": false
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},
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"includePath": [
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"/home/sunrise/yiliao_ws/install/origincar_base/include/**",
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"/home/sunrise/yiliao_ws/install/origincar_msg/include/**",
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"/home/sunrise/yiliao_ws/install/lslidar_msgs/include/**",
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"/opt/ros/humble/include/**",
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"/home/sunrise/yiliao_ws/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/**",
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"/home/sunrise/yiliao_ws/src/ground_slam/include/**",
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"/home/sunrise/yiliao_ws/src/origincar_base/include/**",
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"/usr/include/**"
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],
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"name": "ros2",
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"intelliSenseMode": "gcc-arm64",
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"compilerPath": "/usr/bin/gcc",
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"cStandard": "gnu11",
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"cppStandard": "c++17"
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}
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],
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"version": 4
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}
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.vscode/launch.json
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.vscode/launch.json
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{
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// 使用 IntelliSense 了解相关属性。
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// 悬停以查看现有属性的描述。
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// 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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{
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"name": "ROS2 C++ Debug",
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"request": "launch",
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"type": "cppdbg",
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"MIMode": "gdb",
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"cwd": "${workspaceFolder}",
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"program": "${workspaceFolder}/install/xxx"
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},
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{
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"name": "ROS2: Launch grab_service",
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"request": "launch",
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"target": "${workspaceFolder}/install/xxx",
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"launch": ["rviz", "gz", "gzserver", "gzclient"],
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"type": "ros2"
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},
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{
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"name": "ROS: Attach",
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"request": "attach",
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"type": "ros2"
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}
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]
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}
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.vscode/settings.json
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.vscode/settings.json
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{
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"yaml.schemas": {
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"https://www.schemastore.org/package.json": "file:///home/guoch/test_ws/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml"
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},
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"ROS2.distro": "humble",
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"python.autoComplete.extraPaths": [
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"/home/sunrise/yiliao_ws/install/origincar_base/local/lib/python3.10/dist-packages",
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"/home/sunrise/yiliao_ws/install/origincar_msg/local/lib/python3.10/dist-packages",
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"/home/sunrise/yiliao_ws/install/lslidar_msgs/local/lib/python3.10/dist-packages",
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"/opt/ros/humble/lib/python3.10/site-packages",
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"/opt/ros/humble/local/lib/python3.10/dist-packages"
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],
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"python.analysis.extraPaths": [
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"/home/sunrise/yiliao_ws/install/origincar_base/local/lib/python3.10/dist-packages",
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"/home/sunrise/yiliao_ws/install/origincar_msg/local/lib/python3.10/dist-packages",
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"/home/sunrise/yiliao_ws/install/lslidar_msgs/local/lib/python3.10/dist-packages",
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"/opt/ros/humble/lib/python3.10/site-packages",
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"/opt/ros/humble/local/lib/python3.10/dist-packages"
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]
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}
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CLAUDE.md
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CLAUDE.md
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# CLAUDE.md
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## 项目概述
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这是一个 ROS 2 Humble 工作空间，用于 Ackermann 转向小车的 Gazebo 仿真、SLAM 建图和 Nav2 导航。同时支持实车部署（无 Gazebo）。
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## 工作空间结构
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```
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test_ws/
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├── src/
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│ ├── gc_navigation2_slamtoolbox/ # 仿真版：导航+SLAM 启动文件和配置
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│ │ ├── launch/ # Python launch 文件
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│ │ ├── config/ # slam_toolbox 参数
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│ │ ├── params/ # Nav2 参数
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│ │ ├── maps/ # 地图文件 (.pgm, .yaml, .posegraph)
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│ │ └── world/ # Gazebo 模型 (zhihui/)
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│ ├── gc_navigation2_real/ # 实车版：导航+SLAM 启动文件和配置（无 Gazebo）
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│ │ ├── launch/ # Python launch 文件
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│ │ ├── config/ # slam_toolbox 参数（实车调优）
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│ │ ├── params/ # Nav2 参数（use_sim_time=false）
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│ │ ├── maps/ # 实车地图存放目录
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│ │ └── behavior_tree/ # 阿克曼自定义行为树
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│ ├── origincar_description/ # 机器人 URDF 和 Gazebo world
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│ │ ├── urdf/ # origincar.urdf
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│ │ ├── world/ # .world 文件
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│ │ ├── meshes/ # 3D 模型
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│ │ ├── launch/ # display.launch.py
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│ │ └── rviz/ # RViz 配置
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│ ├── origincar_base/ # 实车底盘驱动（串口通信+EKF+IMU融合）
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│ │ ├── src/ # C++ 源码（origincar_base.cpp）
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│ │ ├── scripts/ # cmd_vel_to_ackermann_drive.py
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│ │ ├── launch/ # origincar_bringup / base_serial / ekf
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│ │ └── config/ # ekf.yaml / imu.yaml
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│ ├── origincar_msg/ # 自定义 ROS 2 消息
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│ │ └── msg/ # Data.msg / Sign.msg
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│ └── LSLIDAR_X_ROS2-20240228/ # 镭神激光雷达 ROS 2 驱动
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│ └── src/
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│ ├── lslidar_driver/ # 雷达驱动核心
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│ └── lslidar_msgs/ # 雷达消息定义
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├── build/ # colcon build 输出
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├── install/ # colcon install 输出 (含符号链接)
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└── log/ # 构建日志
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```
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## 构建命令
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```bash
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cd /home/guoch/test_ws
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source /opt/ros/humble/setup.bash
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colcon build --symlink-install
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source install/setup.bash
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```
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## 常用 Launch 文件
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### 仿真版 (gc_navigation2_slamtoolbox)
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| 文件 | 功能 |
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|------|------|
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| `gc_slam_mapping.launch.py` | Gazebo + SLAM 建图模式 |
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| `gc_nav2_with_slam_online.launch.py` | 已知地图 + SLAM 在线更新 + Nav2 导航 |
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| `gc_nav2_with_slam.launch.py` | 已知地图 + SLAM 定位 + Nav2 导航 |
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| `gc_nav2_with_amcl.launch.py` | AMCL 定位 + Nav2 导航 |
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### 实车版 (gc_navigation2_real)
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| 文件 | 功能 |
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|------|------|
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| `real_bringup.launch.py` | 基础 bringup（底盘驱动+雷达+TF，无导航） |
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| `real_slam_mapping.launch.py` | 实车 SLAM 建图模式 |
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| `real_nav2_slam.launch.py` | 已知地图 + SLAM 定位 + Nav2 导航 |
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| `real_nav2_slam_online.launch.py` | 已知地图 + SLAM 在线更新 + Nav2 导航 |
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## 机器人参数 (origincar)
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- **类型**: Ackermann 转向小车
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- **尺寸**: 0.276 × 0.214 × 0.211 m (长×宽×高)
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- **轴距**: 0.143 m（URDF 中前轮 x=0.0715，后轮 x=-0.0715），**轮距**: 0.189 m
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- **轮子**: 半径 0.03 m，厚 0.025 m
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- **激光雷达**: 360°, 0.12~3.5 m, 5 Hz（仿真）; 镭神 N10 0.15~12m（实车）
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- **IMU**: 100 Hz, 含高斯噪声
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- **Gazebo 插件**: `gazebo_ros_ackermann_drive`, `gazebo_ros_ray_sensor`, `gazebo_ros_imu_sensor`
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## 实车 TF 树
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```
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map ──→ odom_combined ──→ base_footprint ──→ base_link ──→ laser
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↑ ↑ ↑ ↑
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slam_toolbox EKF static TF URDF/static
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(定位) (融合odom+IMU) (origincar_bringup)
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```
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- slam_toolbox 发布 `map → odom_combined`
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- EKF 发布 `odom_combined → base_footprint`
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- origincar_bringup 发布 `base_footprint → base_link`（z=0）、`base_link → laser`
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- robot_state_publisher 发布 URDF 各连杆 TF
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### 仿真 vs 实车关键差异
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| 方面 | 仿真版 | 实车版 |
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|------|--------|--------|
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| use_sim_time | `true` | `false` |
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| odom_frame | `odom` | `odom_combined`（EKF 融合后） |
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| 底盘驱动 | Gazebo plugin | origincar_base 串口驱动 |
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| 激光雷达 | Gazebo ray plugin | lslidar_driver（镭神 N10） |
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| robot_state_publisher | launch 文件内启动 | origincar_bringup 已包含，勿重复启动 |
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| joint_state_publisher | launch 文件内启动 | origincar_bringup 已包含，勿重复启动 |
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## 阿克曼底盘模式
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通过 `akmcar` 参数控制，链路如下：
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```
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origincar_bringup.launch.py
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└─ akmcar=LaunchConfiguration('akmcar', default='true')
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└─ 传入 base_serial.launch.py
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├─ IfCondition(true) → origincar_base_node (akm_cmd_vel='ackermann_cmd')
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│ + cmd_vel_to_ackermann_drive.py (Twist→Ackermann)
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└─ UnlessCondition(false) → 差速模式（跳过）
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```
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数据流：`MPPI cmd_vel(Twist) → cmd_vel_to_ackermann_drive.py → ackermann_cmd(AckermannDriveStamped) → STM32`
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关键参数：
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- `cmd_vel_to_ackermann_drive.py`: `wheelbase = 0.143`（与 URDF 一致）
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- `akmcar=true` 时 STM32 接收 `speed + steering_angle`
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- `akmcar=false` 时 STM32 接收 `vx + vy + wz`（固件自行转换）
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## 关键设计
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1. **map_server** 提供全量静态底图（`/map`）
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2. **slam_toolbox** 负责定位和增量建图，重映射 `/map` → `/slam_map` 避免冲突
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3. **Nav2** 使用 `global_costmap/static_layer ← /map` + `local_costmap/obstacle_layer ← /scan`
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4. 保存地图: `ros2 service call /slam_toolbox/serialize_map ...`
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5. 实车版 launch 文件**不应**自行启动 `robot_state_publisher` 和 `joint_state_publisher`，`origincar_bringup` 已包含
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## 地图文件
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||||||
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地图放在 `src/gc_navigation2_slamtoolbox/maps/`（仿真）和 `src/gc_navigation2_real/maps/`（实车），包含:
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- `xxx.pgm` — 地图图像
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||||||
- `xxx.yaml` — 地图元数据 (resolution, origin, thresholds)
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||||||
- `xxx.posegraph` — 序列化的位姿图
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||||||
|
|
||||||
## Gazebo World
|
|
||||||
|
|
||||||
World 文件在 `src/origincar_description/world/`:
|
|
||||||
- `zhihui.world` — 智慧楼墙体环境（内联模型）
|
|
||||||
- `test.world` — 测试环境
|
|
||||||
- `fishbot.world` / `gc_world.world` — 其他场景
|
|
||||||
|
|
||||||
## 实车底盘驱动包 (origincar_base)
|
|
||||||
|
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||||||
- `origincar_base_node`（C++）: 串口读写（/dev/ttyACM0, 115200bps）、航迹推算、四元数姿态解算（Mahony AHRS）
|
|
||||||
- `cmd_vel_to_ackermann_drive.py`（Python）: Twist → AckermannDriveStamped 转换，wheelbase=0.143
|
|
||||||
- 帧协议: 24 字节收（帧头0x7B/帧尾0x7D）/ 11 字节发
|
|
||||||
- EKF 融合: `/odom` + IMU → `/odom_combined`，`two_d_mode=true`
|
|
||||||
|
|
||||||
## 注意事项
|
|
||||||
|
|
||||||
- 使用 `--symlink-install` 构建，Python launch 文件修改后无需重新编译
|
|
||||||
- `.world` 文件不应使用 `model://` 外部引用，应将模型内联定义
|
|
||||||
- `robot_base_frame` 在 ackermann plugin 中应设为 `base_footprint`
|
|
||||||
- 实车 `gc_navigation2_real` 的 launch 文件调用 `origincar_bringup.launch.py` 时，不再重复启动 `robot_state_publisher` 和 `joint_state_publisher`
|
|
||||||
- 轴距参数在三处需保持一致：URDF（0.143m）、`cmd_vel_to_ackermann_drive.py`（0.143m）、Nav2 planner `minimum_turning_radius`（0.40m）
|
|
||||||
110
README.md
110
README.md
@@ -1,110 +0,0 @@
|
|||||||
# 智慧医疗2026年代码仓库
|
|
||||||
|
|
||||||
# 一、文件夹说明
|
|
||||||
## `dependencies`
|
|
||||||
`dependencies.txt`存储依赖名称
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|
||||||
|
|
||||||
## `src`
|
|
||||||
存放源代码
|
|
||||||
|
|
||||||
## `bashes`
|
|
||||||
自动脚本的存放路径
|
|
||||||
|
|
||||||
---
|
|
||||||
<br></br>
|
|
||||||
# 二、关于雷达驱动自动配置脚本的说明
|
|
||||||
## 1. 配置说明：在设备上配置开机自启动(仅使用雷达的情况直接看第二点)
|
|
||||||
1. 放到固定位置并授权
|
|
||||||
```bash
|
|
||||||
sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh
|
|
||||||
sudo chmod +x /usr/local/bin/radar-driver-switch.sh
|
|
||||||
sudo chown root:root /usr/local/bin/radar-driver-switch.sh
|
|
||||||
```
|
|
||||||
2. 创建 systemd 服务文件
|
|
||||||
```bash
|
|
||||||
sudo vim /etc/systemd/system/radar-driver-switch.service
|
|
||||||
```
|
|
||||||
编辑内容：
|
|
||||||
```ini
|
|
||||||
[Unit]
|
|
||||||
Description=雷达驱动自动切换程序
|
|
||||||
After=sysfs.target udev.target systemd-udevd.service
|
|
||||||
Before=multi-user.target
|
|
||||||
|
|
||||||
[Service]
|
|
||||||
Type=oneshot
|
|
||||||
ExecStart=/usr/local/bin/radar-driver-switch.sh
|
|
||||||
User=root
|
|
||||||
Group=root
|
|
||||||
StandardOutput=journal+console
|
|
||||||
StandardError=journal+console
|
|
||||||
|
|
||||||
[Install]
|
|
||||||
WantedBy=multi-user.target
|
|
||||||
```
|
|
||||||
3. 应用开机自启
|
|
||||||
```bash
|
|
||||||
sudo systemctl daemon-reload
|
|
||||||
sudo systemctl enable radar-driver-switch.service
|
|
||||||
```
|
|
||||||
4. 测试与debug
|
|
||||||
- 测试一次
|
|
||||||
```bash
|
|
||||||
sudo systemctl start radar-driver-switch.service
|
|
||||||
```
|
|
||||||
- 查看状态 / 日志（排查必用）
|
|
||||||
```bash
|
|
||||||
sudo systemctl status radar-driver-switch.service
|
|
||||||
```
|
|
||||||
- 看 dmesg 日志
|
|
||||||
```bash
|
|
||||||
dmesg | grep 雷达驱动自动切换程序
|
|
||||||
```
|
|
||||||
---
|
|
||||||
### 特别说明
|
|
||||||
1. 关于退出码对应的情况，详见sh文件开头
|
|
||||||
2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看
|
|
||||||
|
|
||||||
## 2. 使用说明：
|
|
||||||
1. 设备开机自动启动脚本连接雷达。若开机时雷达与设备没有物理连接，则需要手动启动脚本连接雷达
|
|
||||||
2. 查看雷达是否物理连接
|
|
||||||
```bash
|
|
||||||
lsusb
|
|
||||||
```
|
|
||||||
返回的数据中，如果有` ID 1a86:55d4 QinHeng Electronics USB Single Serial`，则物理连接成功。
|
|
||||||
3. 查看是否成功驱动雷达
|
|
||||||
```bash
|
|
||||||
ls /dev/tty*
|
|
||||||
```
|
|
||||||
看返回数据，默认串口连接设备为`ttyACM*`，名为`ttyACM0`的设备是IMU，如果存在`ttyACM1`，则雷达连接失败；
|
|
||||||
|
|
||||||
如果出现`ttyCH340`，则说明雷达设备驱动成功
|
|
||||||
|
|
||||||
---
|
|
||||||
<br></br>
|
|
||||||
<<<<<<< HEAD
|
|
||||||
# 三、其它说明
|
|
||||||
=======
|
|
||||||
|
|
||||||
# 三、指令
|
|
||||||
启动雷达：
|
|
||||||
`ros2 launch lslidar_driver lsn10_launch.py `
|
|
||||||
open new terminal
|
|
||||||
```bash
|
|
||||||
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ # (open radar)
|
|
||||||
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ # (close radar)
|
|
||||||
```
|
|
||||||
|
|
||||||
# 四、其它说明
|
|
||||||
>>>>>>> mo_new
|
|
||||||
我设置了一些自定义指令，方便终端调试：
|
|
||||||
```bash
|
|
||||||
rosbuild <package_name> # 编译指定包
|
|
||||||
build_debug <package_name> # 以调试模式编译指定包
|
|
||||||
foxglove # 启动foxbridge
|
|
||||||
```
|
|
||||||
|
|
||||||
<<<<<<< HEAD
|
|
||||||
=======
|
|
||||||
# 五、日志
|
|
||||||
>>>>>>> mo_new
|
|
||||||
@@ -1,52 +0,0 @@
|
|||||||
## 关于雷达驱动自动配置脚本的说明
|
|
||||||
### 在设备上配置开机自启动
|
|
||||||
1. 放到固定位置并授权
|
|
||||||
```bash
|
|
||||||
sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh
|
|
||||||
sudo chmod +x /usr/local/bin/radar-driver-switch.sh
|
|
||||||
sudo chown root:root /usr/local/bin/radar-driver-switch.sh
|
|
||||||
```
|
|
||||||
2. 创建 systemd 服务文件
|
|
||||||
```bash
|
|
||||||
sudo vim /etc/systemd/system/radar-driver-switch.service
|
|
||||||
```
|
|
||||||
编辑内容：
|
|
||||||
```ini
|
|
||||||
[Unit]
|
|
||||||
Description=雷达驱动自动切换程序
|
|
||||||
After=sysfs.target udev.target systemd-udevd.service
|
|
||||||
Before=multi-user.target
|
|
||||||
|
|
||||||
[Service]
|
|
||||||
Type=oneshot
|
|
||||||
ExecStart=/usr/local/bin/radar-driver-switch.sh
|
|
||||||
User=root
|
|
||||||
Group=root
|
|
||||||
StandardOutput=journal+console
|
|
||||||
StandardError=journal+console
|
|
||||||
|
|
||||||
[Install]
|
|
||||||
WantedBy=multi-user.target
|
|
||||||
```
|
|
||||||
3. 应用开机自启
|
|
||||||
```bash
|
|
||||||
sudo systemctl daemon-reload
|
|
||||||
sudo systemctl enable radar-driver-switch.service
|
|
||||||
```
|
|
||||||
4. 测试与debug
|
|
||||||
- 测试一次
|
|
||||||
```bash
|
|
||||||
sudo systemctl start radar-driver-switch.service
|
|
||||||
```
|
|
||||||
- 查看状态 / 日志（排查必用）
|
|
||||||
```bash
|
|
||||||
sudo systemctl status radar-driver-switch.service
|
|
||||||
```
|
|
||||||
- 看 dmesg 日志
|
|
||||||
```bash
|
|
||||||
dmesg | grep 雷达驱动自动切换程序
|
|
||||||
```
|
|
||||||
---
|
|
||||||
### 特别说明
|
|
||||||
1. 关于退出码对应的情况，详见sh文件开头
|
|
||||||
2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看
|
|
||||||
@@ -1,101 +0,0 @@
|
|||||||
#!/bin/bash
|
|
||||||
|
|
||||||
# 退出码说明
|
|
||||||
# 0 - 成功
|
|
||||||
# 1 - 错误：等待TTY设备就绪超时
|
|
||||||
# 2 - 错误：未找到CH343驱动
|
|
||||||
# 3 - 错误：雷达端口上未找到CH34x设备
|
|
||||||
# 4 - 错误：未从cdc_acm找到雷达接口
|
|
||||||
# 5 - 错误：解绑cdc_acm驱动失败
|
|
||||||
# 6 - 错误：绑定usb_ch343驱动失败
|
|
||||||
|
|
||||||
# ── 配置 ────────────────────────────────────────────
|
|
||||||
TTY_DEVICE="/dev/ttyACM*"
|
|
||||||
CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
|
|
||||||
USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
|
|
||||||
RADAR_USB_PORT="1-1.4" # 雷达 CH34x 的 USB 物理端口（固定不变）
|
|
||||||
CHECK_INTERVAL=1
|
|
||||||
MAX_WAIT_SECONDS=30
|
|
||||||
|
|
||||||
# ── 初始化 ──────────────────────────────────────────
|
|
||||||
start_time=$(cut -d. -f1 /proc/uptime)
|
|
||||||
|
|
||||||
# ── 1. 等待 TTY 设备就绪 ────────────────────────────
|
|
||||||
while true; do
|
|
||||||
for dev in /dev/ttyACM*; do
|
|
||||||
[ -e "$dev" ] || continue
|
|
||||||
if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
|
|
||||||
TTY_DEVICE="$dev"
|
|
||||||
break 2
|
|
||||||
fi
|
|
||||||
done
|
|
||||||
|
|
||||||
if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
|
|
||||||
current_time=$(cut -d. -f1 /proc/uptime)
|
|
||||||
elapsed_seconds=$((current_time - start_time))
|
|
||||||
if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg
|
|
||||||
exit 1
|
|
||||||
fi
|
|
||||||
echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
|
|
||||||
fi
|
|
||||||
sleep ${CHECK_INTERVAL}
|
|
||||||
done
|
|
||||||
|
|
||||||
# ── 2. 确认 CH343 驱动已加载 ────────────────────────
|
|
||||||
if [ -d "${USB_CH343_PATH}" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] CH343驱动已加载，继续..." > /dev/kmsg
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
|
|
||||||
exit 2
|
|
||||||
fi
|
|
||||||
|
|
||||||
# ── 3. 通过物理端口定位雷达 CH34x ───────────────────
|
|
||||||
radar_sysfs="/sys/bus/usb/devices/${RADAR_USB_PORT}"
|
|
||||||
|
|
||||||
if [ ! -d "${radar_sysfs}" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上无设备！" > /dev/kmsg
|
|
||||||
exit 3
|
|
||||||
fi
|
|
||||||
|
|
||||||
vendor_id=$(cat "${radar_sysfs}/idVendor" 2>/dev/null)
|
|
||||||
product_id=$(cat "${radar_sysfs}/idProduct" 2>/dev/null)
|
|
||||||
|
|
||||||
if [ "${vendor_id}" != "1a86" ] || [ "${product_id}" != "55d4" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上 VID:PID=${vendor_id}:${product_id}，非雷达CH34x！" > /dev/kmsg
|
|
||||||
exit 3
|
|
||||||
fi
|
|
||||||
|
|
||||||
echo "[雷达驱动自动切换程序] 雷达确认位于端口 ${RADAR_USB_PORT}，VID:PID=${vendor_id}:${product_id}" > /dev/kmsg
|
|
||||||
|
|
||||||
# ── 4. 查找 cdc_acm 下雷达的接口 ────────────────────
|
|
||||||
cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${RADAR_USB_PORT}:" | head -n 1)
|
|
||||||
|
|
||||||
if [ -z "${cdc_acm_sub_addr}" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：cdc_acm驱动中未找到端口 ${RADAR_USB_PORT} 的接口" > /dev/kmsg
|
|
||||||
exit 4
|
|
||||||
fi
|
|
||||||
|
|
||||||
echo "[雷达驱动自动切换程序] 雷达 cdc_acm 接口：${cdc_acm_sub_addr}" > /dev/kmsg
|
|
||||||
|
|
||||||
# ── 5. 解绑 cdc_acm ─────────────────────────────────
|
|
||||||
echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" > /dev/null 2>&1
|
|
||||||
if [ $? -eq 0 ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 已解绑 cdc_acm：${cdc_acm_sub_addr}" > /dev/kmsg
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：解绑 cdc_acm 失败" > /dev/kmsg
|
|
||||||
exit 5
|
|
||||||
fi
|
|
||||||
|
|
||||||
# ── 6. 绑定 ch343 ───────────────────────────────────
|
|
||||||
echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" > /dev/null 2>&1
|
|
||||||
if [ $? -eq 0 ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 已绑定 usb_ch343：${cdc_acm_sub_addr}" > /dev/kmsg
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：绑定 usb_ch343 失败" > /dev/kmsg
|
|
||||||
exit 6
|
|
||||||
fi
|
|
||||||
|
|
||||||
echo "[雷达驱动自动切换程序] 雷达驱动切换完毕！" > /dev/kmsg
|
|
||||||
exit 0
|
|
||||||
@@ -1,129 +0,0 @@
|
|||||||
#!/bin/bash
|
|
||||||
|
|
||||||
# 退出码说明
|
|
||||||
# 0 - 成功
|
|
||||||
# 1 - 错误：等待TTY设备就绪超时
|
|
||||||
# 2 - 错误：未找到CH343驱动
|
|
||||||
# 3 - 错误：未找到含Qingheng的USB设备
|
|
||||||
# 4 - 错误：未找到对应USB地址
|
|
||||||
# 5 - 错误：未找到cdc_acm绑定的对应USB设备
|
|
||||||
# 6 - 错误：解绑cdc_acm驱动失败
|
|
||||||
# 7 - 错误：绑定usb_ch343驱动失败
|
|
||||||
|
|
||||||
# 变量设置
|
|
||||||
TTY_DEVICE="/dev/ttyACM*" # 替换为你要等待的tty设备路径
|
|
||||||
CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
|
|
||||||
USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
|
|
||||||
CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒）
|
|
||||||
MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待
|
|
||||||
|
|
||||||
# 初始化变量
|
|
||||||
start_time=$(cut -d. -f1 /proc/uptime)
|
|
||||||
current_time=0
|
|
||||||
qinheng_id=""
|
|
||||||
usb_address=""
|
|
||||||
vendor_id=""
|
|
||||||
product_id=""
|
|
||||||
cdc_acm_sub_addr=""
|
|
||||||
|
|
||||||
|
|
||||||
# ----------------- 1. 等待TTY设备就绪 -----------------
|
|
||||||
# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写）
|
|
||||||
while true; do
|
|
||||||
for dev in /dev/ttyACM*; do
|
|
||||||
[ -e "$dev" ] || continue
|
|
||||||
if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
|
|
||||||
TTY_DEVICE="$dev"
|
|
||||||
break 2 # 跳出两层循环
|
|
||||||
fi
|
|
||||||
done
|
|
||||||
|
|
||||||
if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
|
|
||||||
current_time=$(cut -d. -f1 /proc/uptime)
|
|
||||||
elapsed_seconds=$((current_time - start_time))
|
|
||||||
if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg
|
|
||||||
exit 1
|
|
||||||
fi
|
|
||||||
echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
|
|
||||||
fi
|
|
||||||
|
|
||||||
sleep ${CHECK_INTERVAL}
|
|
||||||
done
|
|
||||||
|
|
||||||
# ------ 2. 查看CH343是否存在 ------
|
|
||||||
if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then
|
|
||||||
echo "[雷达驱动自动切换程序] 检测到CH343驱动存在，继续执行..." > /dev/kmsg
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
|
|
||||||
exit 2
|
|
||||||
fi
|
|
||||||
|
|
||||||
|
|
||||||
# ------------- 3. 查找Qingheng对应的usb接口 -------------
|
|
||||||
echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg
|
|
||||||
|
|
||||||
# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑）
|
|
||||||
qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1)
|
|
||||||
|
|
||||||
# 检查是否提取到ID
|
|
||||||
if [ -z "${qinheng_id}" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg
|
|
||||||
exit 3
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg
|
|
||||||
# 将ID拆分为vendor_id和product_id
|
|
||||||
vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1)
|
|
||||||
product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2)
|
|
||||||
fi
|
|
||||||
|
|
||||||
# -------------------- 4. 提取USB地址 --------------------
|
|
||||||
echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg
|
|
||||||
# 核心命令：过滤dmesg日志，提取USB地址
|
|
||||||
usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1)
|
|
||||||
|
|
||||||
# 检查是否提取到USB地址
|
|
||||||
if [ -z "${usb_address}" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg
|
|
||||||
exit 4
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg
|
|
||||||
fi
|
|
||||||
|
|
||||||
# ---- 5. 找到cdc_acm驱动对应的usb设备 ----
|
|
||||||
echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg
|
|
||||||
|
|
||||||
cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1)
|
|
||||||
|
|
||||||
if [ -z "${cdc_acm_sub_addr}" ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg
|
|
||||||
exit 5
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg
|
|
||||||
fi
|
|
||||||
|
|
||||||
# 6. 切换驱动
|
|
||||||
echo "[雷达驱动自动切换程序] 开始切换cdc_acm驱动到USB地址${usb_address}..." > /dev/kmsg
|
|
||||||
|
|
||||||
echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" 2>/dev/null
|
|
||||||
if [ $? -eq 0 ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 成功解绑cdc_acm驱动：${cdc_acm_sub_addr}" > /dev/kmsg
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：解绑cdc_acm驱动失败" > /dev/kmsg
|
|
||||||
exit 6
|
|
||||||
fi
|
|
||||||
|
|
||||||
echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" 2>/dev/null
|
|
||||||
if [ $? -eq 0 ]; then
|
|
||||||
echo "[雷达驱动自动切换程序] 成功绑定usb_ch343驱动：${cdc_acm_sub_addr}" > /dev/kmsg
|
|
||||||
else
|
|
||||||
echo "[雷达驱动自动切换程序] 错误：绑定usb_ch343驱动失败（检查驱动是否加载）" > /dev/kmsg
|
|
||||||
exit 7
|
|
||||||
fi
|
|
||||||
|
|
||||||
|
|
||||||
# 执行完成
|
|
||||||
echo "[雷达驱动自动切换程序] 雷达驱动自动切换完毕！" > /dev/kmsg
|
|
||||||
|
|
||||||
exit 0
|
|
||||||
5
dependencies/dependencies.txt
vendored
5
dependencies/dependencies.txt
vendored
@@ -1,5 +0,0 @@
|
|||||||
ros-humble-serial-driver
|
|
||||||
ros-humble-ackermann-msgs
|
|
||||||
# 从源码编译serial库
|
|
||||||
ros-humble-navigation2
|
|
||||||
ros-humble-slam-toolbox
|
|
||||||
@@ -1,44 +0,0 @@
|
|||||||
# lslidar
|
|
||||||
|
|
||||||
## Description
|
|
||||||
The `lslidar package is a linux ROS2 driver for lslidar M10 ,M10_GPS,M10_P,M10_PLUS and N10.
|
|
||||||
The package is tested on Ubuntu 20.04 with ROS2 indigo.
|
|
||||||
|
|
||||||
## Compling
|
|
||||||
This is a Catkin package. Make sure the package is on `ROS_PACKAGE_PATH` after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.
|
|
||||||
|
|
||||||
```
|
|
||||||
cd your_work_space
|
|
||||||
colcon build
|
|
||||||
source install/setup.bash
|
|
||||||
ros2 launch lslidar_driver lslidar_launch.py
|
|
||||||
```
|
|
||||||
open new terminal
|
|
||||||
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ (open radar)
|
|
||||||
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ (close radar)
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
ros2 launch lslidar_driver lslidar_launch.py
|
|
||||||
|
|
||||||
```
|
|
||||||
|
|
||||||
Note that this launch file launches both the driver, which is the only launch file needed to be used.
|
|
||||||
|
|
||||||
|
|
||||||
## FAQ
|
|
||||||
|
|
||||||
|
|
||||||
## Bug Report
|
|
||||||
|
|
||||||
Prefer to open an issue. You can also send an E-mail to honghangli@lslidar.com
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
RERTION
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@@ -1,56 +0,0 @@
|
|||||||
cmake_minimum_required(VERSION 3.5)
|
|
||||||
project(lslidar_driver)
|
|
||||||
|
|
||||||
# Default to C++14
|
|
||||||
if(NOT CMAKE_CXX_STANDARD)
|
|
||||||
set(CMAKE_CXX_STANDARD 14)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
||||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
set(libpcap_LIBRARIES -lpcap)
|
|
||||||
|
|
||||||
#set(FastRTPS_INCLUDE_DIR /opt/ros/foxy/include)
|
|
||||||
#set(FastRTPS_LIBRARY_RELEASE /opt/ros/foxy/lib/libfastrtps.so)
|
|
||||||
|
|
||||||
#find_package(Boost REQUIRED COMPONENTS )
|
|
||||||
find_package(Boost REQUIRED thread)
|
|
||||||
find_package(rclcpp REQUIRED)
|
|
||||||
find_package(PCL REQUIRED)
|
|
||||||
find_package(diagnostic_updater REQUIRED)
|
|
||||||
find_package(lslidar_msgs REQUIRED)
|
|
||||||
find_package(std_msgs REQUIRED)
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
find_package(pluginlib REQUIRED)
|
|
||||||
find_package(rclpy REQUIRED)
|
|
||||||
find_package(pcl_conversions REQUIRED)
|
|
||||||
find_package(sensor_msgs REQUIRED)
|
|
||||||
#find_package(PCL REQUIRED COMPONENTS common io)
|
|
||||||
|
|
||||||
include_directories(
|
|
||||||
include
|
|
||||||
${PCL_INCLUDE_DIRS}
|
|
||||||
${PCL_COMMON_INCLUDE_DIRS}
|
|
||||||
${Boost_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
|
|
||||||
# Node
|
|
||||||
add_executable(lslidar_driver_node src/lslidar_driver_node.cc src/lslidar_driver.cc src/input.cc src/lsiosr.cpp)
|
|
||||||
target_link_libraries(lslidar_driver_node ${rclcpp_LIBRARIES} ${libpcap_LIBRARIES} ${Boost_LIBRARIES} Boost::thread)
|
|
||||||
ament_target_dependencies(lslidar_driver_node rclcpp std_msgs lslidar_msgs sensor_msgs diagnostic_updater pcl_conversions)
|
|
||||||
|
|
||||||
|
|
||||||
install(DIRECTORY launch params rviz
|
|
||||||
DESTINATION share/${PROJECT_NAME})
|
|
||||||
|
|
||||||
install(TARGETS
|
|
||||||
lslidar_driver_node
|
|
||||||
DESTINATION lib/${PROJECT_NAME}
|
|
||||||
)
|
|
||||||
|
|
||||||
ament_export_dependencies(rclcpp pluginlib lslidar_msgs sensor_msgs pcl_conversions)
|
|
||||||
ament_export_include_directories(include ${PCL_COMMON_INCLUDE_DIRS})
|
|
||||||
|
|
||||||
ament_package()
|
|
||||||
@@ -1,134 +0,0 @@
|
|||||||
/*
|
|
||||||
* This file is part of lslidar_ch driver.
|
|
||||||
*
|
|
||||||
* The driver is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* The driver is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with the driver. If not, see <http://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* Input -- base class used to access the data independently of
|
|
||||||
* its source
|
|
||||||
*
|
|
||||||
* InputSocket -- derived class reads live data from the device
|
|
||||||
* via a UDP socket
|
|
||||||
*
|
|
||||||
* InputPCAP -- derived class provides a similar interface from a
|
|
||||||
* PCAP dump
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef __LSLIDAR_INPUT_H_
|
|
||||||
#define __LSLIDAR_INPUT_H_
|
|
||||||
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <pcap.h>
|
|
||||||
#include <netinet/in.h>
|
|
||||||
#include "rclcpp/rclcpp.hpp"
|
|
||||||
#include <lslidar_msgs/msg/lslidar_packet.hpp>
|
|
||||||
#include <string>
|
|
||||||
#include <sstream>
|
|
||||||
#include <sys/socket.h>
|
|
||||||
#include <arpa/inet.h>
|
|
||||||
#include <poll.h>
|
|
||||||
#include <errno.h>
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include <sys/file.h>
|
|
||||||
#include <signal.h>
|
|
||||||
#include <sensor_msgs/msg/time_reference.hpp>
|
|
||||||
#include <std_msgs/msg/int8.hpp>
|
|
||||||
#include <cmath>
|
|
||||||
|
|
||||||
namespace lslidar_driver
|
|
||||||
{
|
|
||||||
static uint16_t MSOP_DATA_PORT_NUMBER = 2368; // lslidar default data port on PC
|
|
||||||
/**
|
|
||||||
* 从在线的网络数据或离线的网络抓包数据（pcap文件）中提取出lidar的原始数据，即packet数据包
|
|
||||||
* @brief The Input class,
|
|
||||||
*
|
|
||||||
* @param private_nh 一个NodeHandled,用于通过节点传递参数
|
|
||||||
* @param port
|
|
||||||
* @returns 0 if successful,
|
|
||||||
* -1 if end of file
|
|
||||||
* >0 if incomplete packet (is this possible?)
|
|
||||||
*/
|
|
||||||
class Input
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
Input(rclcpp::Node* private_nh, uint16_t port);
|
|
||||||
|
|
||||||
virtual ~Input()
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet) = 0;
|
|
||||||
|
|
||||||
int getRpm(void);
|
|
||||||
int getReturnMode(void);
|
|
||||||
bool getUpdateFlag(void);
|
|
||||||
void clearUpdateFlag(void);
|
|
||||||
void UDP_order(const std_msgs::msg::Int8 msg);
|
|
||||||
void UDP_difop();
|
|
||||||
protected:
|
|
||||||
rclcpp::Node* private_nh_;
|
|
||||||
uint16_t port_;
|
|
||||||
std::string devip_str_;
|
|
||||||
std::string lidar_name;
|
|
||||||
int cur_rpm_;
|
|
||||||
int return_mode_;
|
|
||||||
bool npkt_update_flag_;
|
|
||||||
bool add_multicast;
|
|
||||||
std::string group_ip;
|
|
||||||
int UDP_PORT_NUMBER_DIFOP;
|
|
||||||
int socket_id_difop;
|
|
||||||
int sockfd_;
|
|
||||||
std::string devip_str_difop;
|
|
||||||
};
|
|
||||||
|
|
||||||
/** @brief Live lslidar input from socket. */
|
|
||||||
class InputSocket : public Input
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
InputSocket(rclcpp::Node* private_nh, uint16_t port = MSOP_DATA_PORT_NUMBER);
|
|
||||||
|
|
||||||
virtual ~InputSocket();
|
|
||||||
|
|
||||||
virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet);
|
|
||||||
|
|
||||||
private:
|
|
||||||
private:
|
|
||||||
|
|
||||||
in_addr devip_;
|
|
||||||
in_addr devip_difop;
|
|
||||||
//struct ip_mreq group;
|
|
||||||
|
|
||||||
};
|
|
||||||
class InputPCAP : public Input
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
InputPCAP(rclcpp::Node* private_nh,uint16_t port = MSOP_DATA_PORT_NUMBER, double packet_rate = 0.0,
|
|
||||||
std::string filename="");
|
|
||||||
virtual ~InputPCAP();
|
|
||||||
virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &pkt);
|
|
||||||
private:
|
|
||||||
|
|
||||||
rclcpp::Rate packet_rate_;
|
|
||||||
std::string filename_;
|
|
||||||
pcap_t *pcap_;
|
|
||||||
bpf_program pcap_packet_filter_;
|
|
||||||
char errbuf_[PCAP_ERRBUF_SIZE];
|
|
||||||
bool empty_;
|
|
||||||
bool read_once_;
|
|
||||||
bool read_fast_;
|
|
||||||
double repeat_delay_;
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif // __LSLIDAR_INPUT_H
|
|
||||||
@@ -1,88 +0,0 @@
|
|||||||
/*******************************************************
|
|
||||||
@company: Copyright (C) 2021, Leishen Intelligent System
|
|
||||||
@product: LSM10_N10
|
|
||||||
@filename: lsiosr.cpp
|
|
||||||
@brief:
|
|
||||||
@version: date: author: comments:
|
|
||||||
@v1.0 22-10-24 li new
|
|
||||||
*******************************************************/
|
|
||||||
#ifndef LSIOSR_H
|
|
||||||
#define LSIOSR_H
|
|
||||||
|
|
||||||
#include <sys/types.h>
|
|
||||||
#include <sys/stat.h>
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include <termios.h>
|
|
||||||
#include <errno.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <string.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <stdint.h>
|
|
||||||
#include <fstream>
|
|
||||||
#include <iostream>
|
|
||||||
|
|
||||||
//波特率
|
|
||||||
#define BAUD_230400 230400
|
|
||||||
#define BAUD_460800 460800
|
|
||||||
#define BAUD_500000 500000
|
|
||||||
#define BAUD_921600 921600
|
|
||||||
|
|
||||||
//奇偶校验位
|
|
||||||
#define PARITY_ODD 'O' //奇数
|
|
||||||
#define PARITY_EVEN 'E' //偶数
|
|
||||||
#define PARITY_NONE 'N' //无奇偶校验位
|
|
||||||
|
|
||||||
//停止位
|
|
||||||
#define STOP_BIT_1 1
|
|
||||||
#define STOP_BIT_2 2
|
|
||||||
|
|
||||||
//数据位
|
|
||||||
#define DATA_BIT_7 7
|
|
||||||
#define DATA_BIT_8 8
|
|
||||||
|
|
||||||
namespace lslidar_driver
|
|
||||||
{
|
|
||||||
class LSIOSR{
|
|
||||||
public:
|
|
||||||
static LSIOSR* instance(std::string name, int speed, int fd = 0);
|
|
||||||
|
|
||||||
~LSIOSR();
|
|
||||||
|
|
||||||
/* 从串口中读取数据 */
|
|
||||||
int read(unsigned char *buffer, int length, int timeout = 30);
|
|
||||||
|
|
||||||
/* 向串口传数据 */
|
|
||||||
int send(const char* buffer, int length, int timeout = 30);
|
|
||||||
|
|
||||||
/* Empty serial port input buffer */
|
|
||||||
void flushinput();
|
|
||||||
|
|
||||||
/* 串口初始化 */
|
|
||||||
int init();
|
|
||||||
|
|
||||||
int close();
|
|
||||||
|
|
||||||
/* 获取串口号 */
|
|
||||||
std::string getPort();
|
|
||||||
|
|
||||||
/* 设置串口号 */
|
|
||||||
int setPortName(std::string name);
|
|
||||||
|
|
||||||
private:
|
|
||||||
LSIOSR(std::string name, int speed, int fd);
|
|
||||||
|
|
||||||
int waitWritable(int millis);
|
|
||||||
int waitReadable(int millis);
|
|
||||||
|
|
||||||
/* 串口配置的函数 */
|
|
||||||
int setOpt(int nBits, uint8_t nEvent, int nStop);
|
|
||||||
|
|
||||||
std::string port_;
|
|
||||||
int baud_rate_;
|
|
||||||
|
|
||||||
int fd_;
|
|
||||||
};
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
@@ -1,159 +0,0 @@
|
|||||||
/*
|
|
||||||
* This file is part of lslidar driver.
|
|
||||||
*
|
|
||||||
* The driver is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* The driver is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with the driver. If not, see <http://www.gnu.org/licenses/>.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef LSLIDAR_DRIVER_H
|
|
||||||
#define LSLIDAR_DRIVER_H
|
|
||||||
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <netinet/in.h>
|
|
||||||
#include <string>
|
|
||||||
|
|
||||||
#include <boost/shared_ptr.hpp>
|
|
||||||
#include <boost/date_time/posix_time/posix_time.hpp>
|
|
||||||
#include <boost/thread.hpp>
|
|
||||||
#include "rclcpp/rclcpp.hpp"
|
|
||||||
#include <thread>
|
|
||||||
#include "diagnostic_updater/diagnostic_updater.hpp"
|
|
||||||
#include "diagnostic_updater/publisher.hpp"
|
|
||||||
#include "lslidar_msgs/msg/lslidar_packet.hpp"
|
|
||||||
#include "std_msgs/msg/byte.hpp"
|
|
||||||
|
|
||||||
#include "sensor_msgs/msg/point_cloud2.hpp"
|
|
||||||
#include "pcl_conversions/pcl_conversions.h"
|
|
||||||
#include "pcl/point_types.h"
|
|
||||||
|
|
||||||
#include "time.h"
|
|
||||||
#include "input.h"
|
|
||||||
#include "lsiosr.h"
|
|
||||||
#include "sensor_msgs/msg/laser_scan.hpp"
|
|
||||||
namespace lslidar_driver {
|
|
||||||
|
|
||||||
struct PointXYZIT {
|
|
||||||
PCL_ADD_POINT4D;
|
|
||||||
uint8_t intensity;
|
|
||||||
double timestamp;
|
|
||||||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
|
|
||||||
} EIGEN_ALIGN16;
|
|
||||||
|
|
||||||
typedef struct {
|
|
||||||
double degree;
|
|
||||||
double range;
|
|
||||||
double intensity;
|
|
||||||
} ScanPoint;
|
|
||||||
|
|
||||||
class LslidarDriver: public rclcpp::Node {
|
|
||||||
public:
|
|
||||||
LslidarDriver();
|
|
||||||
LslidarDriver(const rclcpp::NodeOptions& options);
|
|
||||||
~LslidarDriver();
|
|
||||||
|
|
||||||
bool initialize();
|
|
||||||
bool polling();
|
|
||||||
|
|
||||||
typedef std::shared_ptr<LslidarDriver> LslidarDriverPtr;
|
|
||||||
typedef std::shared_ptr<const LslidarDriver> LslidarDriverConstPtr;
|
|
||||||
|
|
||||||
private:
|
|
||||||
uint64_t get_gps_stamp(struct tm t);
|
|
||||||
uint8_t N10_CalCRC8(unsigned char * p, int len);
|
|
||||||
bool loadParameters();
|
|
||||||
bool createRosIO();
|
|
||||||
void open_serial();
|
|
||||||
void lidar_difop();
|
|
||||||
void lidar_order(const std_msgs::msg::Int8::SharedPtr msg);
|
|
||||||
void data_processing(unsigned char *packet_bytes,int len);
|
|
||||||
void data_processing_2(unsigned char *packet_bytes,int len);
|
|
||||||
void difop_processing(unsigned char *packet_bytes);
|
|
||||||
void pubScanThread();
|
|
||||||
void recvThread_crc(int &count,int &link_time);
|
|
||||||
int receive_data(unsigned char *packet_bytes);
|
|
||||||
int getScan(std::vector<ScanPoint> &points, rclcpp::Time &scan_time, float &scan_duration);
|
|
||||||
|
|
||||||
boost::thread *pubscan_thread_ ;
|
|
||||||
boost::shared_ptr<Input> msop_input_;
|
|
||||||
boost::mutex mutex_;
|
|
||||||
boost::mutex pubscan_mutex_;
|
|
||||||
boost::condition_variable pubscan_cond_;
|
|
||||||
int UDP_PORT_NUMBER;
|
|
||||||
int count_num;
|
|
||||||
int package_points;
|
|
||||||
int data_bits_start;
|
|
||||||
int degree_bits_start;
|
|
||||||
int end_degree_bits_start;
|
|
||||||
int rpm_bits_start;
|
|
||||||
int baud_rate_;
|
|
||||||
int points_size_;
|
|
||||||
int idx = 0;
|
|
||||||
int link_time = 0;
|
|
||||||
int fixed_array_length;//cyy_add
|
|
||||||
|
|
||||||
bool use_gps_ts;
|
|
||||||
bool is_start;
|
|
||||||
bool high_reflection;
|
|
||||||
bool compensation;
|
|
||||||
bool first_compensation = true;
|
|
||||||
bool pubScan;
|
|
||||||
bool pubPointCloud2;
|
|
||||||
|
|
||||||
double min_range;
|
|
||||||
double max_range;
|
|
||||||
double angle_disable_min;
|
|
||||||
double angle_disable_max;
|
|
||||||
double angle_able_min;
|
|
||||||
double angle_able_max;
|
|
||||||
double last_degree = 0.0;
|
|
||||||
double degree_compensation = 0.0;
|
|
||||||
|
|
||||||
uint16_t PACKET_SIZE ;
|
|
||||||
uint64_t sweep_end_time_gps;
|
|
||||||
uint64_t sweep_end_time_hardware;
|
|
||||||
uint64_t sub_second;
|
|
||||||
|
|
||||||
std::string frame_id;
|
|
||||||
std::string interface_selection;
|
|
||||||
std::string scan_topic;
|
|
||||||
std::string lidar_name;
|
|
||||||
std::string serial_port_;
|
|
||||||
std::string dump_file;
|
|
||||||
std::string pointcloud_topic;
|
|
||||||
std::string in_file_name;
|
|
||||||
|
|
||||||
tm pTime;
|
|
||||||
rclcpp::Time pre_time_;
|
|
||||||
rclcpp::Time time_;
|
|
||||||
std::vector<ScanPoint> scan_points_;
|
|
||||||
std::vector<ScanPoint> scan_points_bak_;
|
|
||||||
// Diagnostics updater
|
|
||||||
diagnostic_updater::Updater diagnostics;
|
|
||||||
std::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic;
|
|
||||||
double diag_min_freq;
|
|
||||||
double diag_max_freq;
|
|
||||||
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub;
|
|
||||||
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr point_cloud_pub;
|
|
||||||
rclcpp::Subscription<std_msgs::msg::Int8>::SharedPtr difop_switch;
|
|
||||||
LSIOSR * serial_;
|
|
||||||
};
|
|
||||||
typedef PointXYZIT VPoint;
|
|
||||||
typedef pcl::PointCloud<VPoint> VPointCloud;
|
|
||||||
|
|
||||||
} // namespace lslidar_driver
|
|
||||||
POINT_CLOUD_REGISTER_POINT_STRUCT(lslidar_driver::PointXYZIT,
|
|
||||||
(float, x, x)(float, y, y)(float, z, z)(
|
|
||||||
std::uint8_t, intensity,
|
|
||||||
intensity)(double, timestamp, timestamp))
|
|
||||||
#endif // _LSLIDAR_DRIVER_H_
|
|
||||||
@@ -1,50 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir_1 = os.path.join(get_package_share_directory('lslidar_driver_n10p'), 'params', 'lsx10_1.yaml')
|
|
||||||
driver_dir_2 = os.path.join(get_package_share_directory('lslidar_driver_n10p'), 'params', 'lsx10_2.yaml')
|
|
||||||
|
|
||||||
driver_node_1 = LifecycleNode(package='lslidar_driver_n10p',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node', #设置激光数据topic名称
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='lidar_1',
|
|
||||||
parameters=[driver_dir_1],
|
|
||||||
)
|
|
||||||
|
|
||||||
driver_node_2 = LifecycleNode(package='lslidar_driver_n10p',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node', #设置激光数据topic名称
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='lidar_2',
|
|
||||||
parameters=[driver_dir_2],
|
|
||||||
)
|
|
||||||
|
|
||||||
rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz')
|
|
||||||
|
|
||||||
rviz_node = Node(
|
|
||||||
package='rviz2',
|
|
||||||
namespace='',
|
|
||||||
executable='rviz2',
|
|
||||||
name='rviz2',
|
|
||||||
arguments=['-d', rviz_dir],
|
|
||||||
output='screen')
|
|
||||||
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node_1,
|
|
||||||
driver_node_2,
|
|
||||||
rviz_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,27 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_net_ros2','lsm10_net.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node',
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,27 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_uart_ros2','lsm10.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node',
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,27 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_net_ros2','lsm10p_net.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node',
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,27 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_uart_ros2','lsm10_p.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node',
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,28 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_uart_ros2', 'lsn10.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node', #设置激光数据topic名称
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,28 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_net_ros2', 'lsn10_net.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node', #设置激光数据topic名称
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,28 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_uart_ros2', 'lsn10p.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node', #设置激光数据topic名称
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,28 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_net_ros2', 'lsn10p_net.yaml')
|
|
||||||
|
|
||||||
driver_node = LifecycleNode(package='lslidar_driver',
|
|
||||||
executable='lslidar_driver_node',
|
|
||||||
name='lslidar_driver_node', #设置激光数据topic名称
|
|
||||||
output='screen',
|
|
||||||
emulate_tty=True,
|
|
||||||
namespace='',
|
|
||||||
parameters=[driver_dir],
|
|
||||||
)
|
|
||||||
|
|
||||||
return LaunchDescription([
|
|
||||||
driver_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,26 +0,0 @@
|
|||||||
#!/usr/bin/python3
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch_ros.actions import LifecycleNode
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch.actions import DeclareLaunchArgument
|
|
||||||
|
|
||||||
import lifecycle_msgs.msg
|
|
||||||
import os
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
|
|
||||||
rviz2_config = os.path.join(get_package_share_directory('lslidar_driver'),'rviz','lslidar.rviz')
|
|
||||||
|
|
||||||
rviz2_node = Node(
|
|
||||||
package='rviz2',
|
|
||||||
executable='rviz2',
|
|
||||||
name='rviz2',
|
|
||||||
arguments=['-d',rviz2_config],
|
|
||||||
output='screen')
|
|
||||||
|
|
||||||
return LaunchDescription([
|
|
||||||
rviz2_node,
|
|
||||||
])
|
|
||||||
|
|
||||||
@@ -1,36 +0,0 @@
|
|||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
|
||||||
<name>lslidar_driver</name>
|
|
||||||
<version>1.2.0</version>
|
|
||||||
<description>ROS device driver for Leishen lidar.</description>
|
|
||||||
<maintainer email="shaohuashu@lslidar.com">Nick Shu</maintainer>
|
|
||||||
<author>Nick Shu</author>
|
|
||||||
<license>GNU General Public License V3.0</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<build_depend>rclcpp</build_depend>
|
|
||||||
<build_depend>std_msgs</build_depend>
|
|
||||||
<build_depend>lslidar_msgs</build_depend>
|
|
||||||
<build_depend>pcl_conversions</build_depend>
|
|
||||||
<build_depend>rclpy</build_depend>
|
|
||||||
<build_depend>libpcap</build_depend>
|
|
||||||
<build_depend>libpcl-all-dev</build_depend>
|
|
||||||
<build_depend>pluginlib</build_depend>
|
|
||||||
<build_depend>sensor_msgs</build_depend>
|
|
||||||
|
|
||||||
<exec_depend>rclcpp</exec_depend>
|
|
||||||
<exec_depend>std_msgs</exec_depend>
|
|
||||||
<exec_depend>lslidar_msgs</exec_depend>
|
|
||||||
<exec_depend>pcl_conversions</exec_depend>
|
|
||||||
<exec_depend>rclpy</exec_depend>
|
|
||||||
<exec_depend>libpcap</exec_depend>
|
|
||||||
<exec_depend>libpcl-all</exec_depend>
|
|
||||||
<exec_depend>pluginlib</exec_depend>
|
|
||||||
<exec_depend>sensor_msgs</exec_depend>
|
|
||||||
|
|
||||||
<depend>diagnostic_updater</depend>
|
|
||||||
<export>
|
|
||||||
<build_type>ament_cmake</build_type>
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
@@ -1,22 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达目的ip
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达源IP
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: M10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10
|
|
||||||
ceil_increase: -1 #Lsm10*时改值应设置为-1
|
|
||||||
angle_disable_min: 0.0 #单角度裁剪开始值
|
|
||||||
angle_disable_max: 0.0 #单角度裁剪结束值
|
|
||||||
truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0
|
|
||||||
#值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改
|
|
||||||
min_range: 0.0 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: net #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/wheeltec_laser #串口连接时的串口号
|
|
||||||
# pcap: /home/ls/work/2211/M10_P_gps.pcap #雷达是否使用pcap包读取功能
|
|
||||||
@@ -1,22 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达目的ip
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达源IP
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: M10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10
|
|
||||||
ceil_increase: -1 #Lsm10*时改值应设置为-1
|
|
||||||
angle_disable_min: 0.0 #单角度裁剪开始值
|
|
||||||
angle_disable_max: 0.0 #单角度裁剪结束值
|
|
||||||
truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0
|
|
||||||
#值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改
|
|
||||||
min_range: 0.0 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: net #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/wheeltec_laser #串口连接时的串口号
|
|
||||||
# pcap: /home/ls/work/2211/M10_P_gps.pcap #雷达是否使用pcap包读取功能
|
|
||||||
@@ -1,25 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达源IP
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达目的ip
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: N10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
|
|
||||||
angle_disable_min: 0.0 #角度裁剪开始值
|
|
||||||
angle_disable_max: 0.0 #角度裁剪结束值
|
|
||||||
min_range: 0.2 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: net #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/wheeltec_laser #串口连接时的串口号
|
|
||||||
high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
|
|
||||||
compensation: false #M10系列是否使用角度补偿功能
|
|
||||||
pubScan: true #是否发布scan话题
|
|
||||||
pubPointCloud2: false #是否发布pointcloud2话题
|
|
||||||
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
|
|
||||||
# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
|
|
||||||
# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
|
|
||||||
@@ -1,25 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达源IP
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达目的ip
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: N10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
|
|
||||||
angle_disable_min: 120.0 #角度裁剪开始值
|
|
||||||
angle_disable_max: 230.0 #角度裁剪结束值
|
|
||||||
min_range: 0.2 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: net #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/wheeltec_laser #串口连接时的串口号
|
|
||||||
high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
|
|
||||||
compensation: false #M10系列是否使用角度补偿功能
|
|
||||||
pubScan: true #是否发布scan话题
|
|
||||||
pubPointCloud2: false #是否发布pointcloud2话题
|
|
||||||
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
|
|
||||||
# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
|
|
||||||
# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
|
|
||||||
@@ -1,28 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达目的ip
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达源IP
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: M10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10
|
|
||||||
ceil_increase: -1 #Lsm10*时改值应设置为-1
|
|
||||||
angle_disable_min: 0.0 #单角度裁剪开始值
|
|
||||||
angle_disable_max: 0.0 #单角度裁剪结束值
|
|
||||||
truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0
|
|
||||||
#值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改
|
|
||||||
min_range: 0.0 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: serial #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/wheeltec_laser #串口连接时的串口号
|
|
||||||
high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
|
|
||||||
compensation: false #M10系列是否使用角度补偿功能
|
|
||||||
pubScan: true #是否发布scan话题
|
|
||||||
pubPointCloud2: false #是否发布pointcloud2话题
|
|
||||||
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
|
|
||||||
# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
|
|
||||||
# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
|
|
||||||
@@ -1,28 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达目的ip
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达源IP
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: M10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10
|
|
||||||
ceil_increase: -1 #Lsm10*时改值应设置为-1
|
|
||||||
angle_disable_min: 0.0 #单角度裁剪开始值
|
|
||||||
angle_disable_max: 0.0 #单角度裁剪结束值
|
|
||||||
truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0
|
|
||||||
#值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改
|
|
||||||
min_range: 0.0 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: serial #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/wheeltec_laser #串口连接时的串口号
|
|
||||||
high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
|
|
||||||
compensation: false #M10系列是否使用角度补偿功能
|
|
||||||
pubScan: true #是否发布scan话题
|
|
||||||
pubPointCloud2: false #是否发布pointcloud2话题
|
|
||||||
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
|
|
||||||
# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
|
|
||||||
# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
|
|
||||||
@@ -1,26 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser_link #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达源IP
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达目的ip
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: N10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
|
|
||||||
angle_disable_min: 0.0 #角度裁剪开始值
|
|
||||||
angle_disable_max: 0.0 #角度裁剪结束值
|
|
||||||
min_range: 0.15 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: serial #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/ttyCH343USB0 #串口连接时的串口号
|
|
||||||
high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
|
|
||||||
compensation: false #M10系列是否使用角度补偿功能
|
|
||||||
pubScan: true #是否发布scan话题
|
|
||||||
pubPointCloud2: false #是否发布pointcloud2话题
|
|
||||||
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
|
|
||||||
fixed_array_length: 450
|
|
||||||
# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
|
|
||||||
# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
|
|
||||||
@@ -1,25 +0,0 @@
|
|||||||
/lslidar_driver_node:
|
|
||||||
ros__parameters:
|
|
||||||
frame_id: laser #激光坐标
|
|
||||||
group_ip: 224.1.1.2
|
|
||||||
add_multicast: false
|
|
||||||
device_ip: 192.168.1.200 #雷达源IP
|
|
||||||
device_ip_difop: 192.168.1.102 #雷达目的ip
|
|
||||||
msop_port: 2368 #雷达目的端口号
|
|
||||||
difop_port: 2369 #雷达源端口号
|
|
||||||
lidar_name: N10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
|
|
||||||
angle_disable_min: 120.0 #角度裁剪开始值
|
|
||||||
angle_disable_max: 230.0 #角度裁剪结束值
|
|
||||||
min_range: 0.2 #雷达接收距离最小值
|
|
||||||
max_range: 200.0 #雷达接收距离最大值
|
|
||||||
use_gps_ts: false #雷达是否使用GPS授时
|
|
||||||
scan_topic: /scan #设置激光数据topic名称
|
|
||||||
interface_selection: serial #接口选择:net 为网口,serial 为串口。
|
|
||||||
serial_port_: /dev/wheeltec_laser #串口连接时的串口号
|
|
||||||
high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
|
|
||||||
compensation: false #M10系列是否使用角度补偿功能
|
|
||||||
pubScan: true #是否发布scan话题
|
|
||||||
pubPointCloud2: false #是否发布pointcloud2话题
|
|
||||||
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
|
|
||||||
# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
|
|
||||||
# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
|
|
||||||
@@ -1,161 +0,0 @@
|
|||||||
Panels:
|
|
||||||
- Class: rviz_common/Displays
|
|
||||||
Help Height: 78
|
|
||||||
Name: Displays
|
|
||||||
Property Tree Widget:
|
|
||||||
Expanded:
|
|
||||||
- /Global Options1
|
|
||||||
- /Status1
|
|
||||||
- /LaserScan1
|
|
||||||
Splitter Ratio: 0.3441176414489746
|
|
||||||
Tree Height: 617
|
|
||||||
- Class: rviz_common/Selection
|
|
||||||
Name: Selection
|
|
||||||
- Class: rviz_common/Tool Properties
|
|
||||||
Expanded:
|
|
||||||
- /2D Goal Pose1
|
|
||||||
- /Publish Point1
|
|
||||||
Name: Tool Properties
|
|
||||||
Splitter Ratio: 0.5886790156364441
|
|
||||||
- Class: rviz_common/Views
|
|
||||||
Expanded:
|
|
||||||
- /Current View1
|
|
||||||
Name: Views
|
|
||||||
Splitter Ratio: 0.5
|
|
||||||
Visualization Manager:
|
|
||||||
Class: ""
|
|
||||||
Displays:
|
|
||||||
- Alpha: 0.5
|
|
||||||
Cell Size: 1
|
|
||||||
Class: rviz_default_plugins/Grid
|
|
||||||
Color: 160; 160; 164
|
|
||||||
Enabled: true
|
|
||||||
Line Style:
|
|
||||||
Line Width: 0.029999999329447746
|
|
||||||
Value: Lines
|
|
||||||
Name: Grid
|
|
||||||
Normal Cell Count: 0
|
|
||||||
Offset:
|
|
||||||
X: 0
|
|
||||||
Y: 0
|
|
||||||
Z: 0
|
|
||||||
Plane: XY
|
|
||||||
Plane Cell Count: 10
|
|
||||||
Reference Frame: <Fixed Frame>
|
|
||||||
Value: true
|
|
||||||
- Alpha: 1
|
|
||||||
Autocompute Intensity Bounds: true
|
|
||||||
Autocompute Value Bounds:
|
|
||||||
Max Value: 10
|
|
||||||
Min Value: -10
|
|
||||||
Value: true
|
|
||||||
Axis: Z
|
|
||||||
Channel Name: intensity
|
|
||||||
Class: rviz_default_plugins/LaserScan
|
|
||||||
Color: 255; 255; 255
|
|
||||||
Color Transformer: Intensity
|
|
||||||
Decay Time: 0
|
|
||||||
Enabled: true
|
|
||||||
Invert Rainbow: false
|
|
||||||
Max Color: 255; 255; 255
|
|
||||||
Max Intensity: 0
|
|
||||||
Min Color: 0; 0; 0
|
|
||||||
Min Intensity: 0
|
|
||||||
Name: LaserScan
|
|
||||||
Position Transformer: XYZ
|
|
||||||
Selectable: true
|
|
||||||
Size (Pixels): 3
|
|
||||||
Size (m): 0.009999999776482582
|
|
||||||
Style: Flat Squares
|
|
||||||
Topic:
|
|
||||||
Depth: 5
|
|
||||||
Durability Policy: Volatile
|
|
||||||
Filter size: 10
|
|
||||||
History Policy: Keep Last
|
|
||||||
Reliability Policy: Reliable
|
|
||||||
Value: scan
|
|
||||||
Use Fixed Frame: true
|
|
||||||
Use rainbow: true
|
|
||||||
Value: true
|
|
||||||
Enabled: true
|
|
||||||
Global Options:
|
|
||||||
Background Color: 48; 48; 48
|
|
||||||
Fixed Frame: laser
|
|
||||||
Frame Rate: 30
|
|
||||||
Name: root
|
|
||||||
Tools:
|
|
||||||
- Class: rviz_default_plugins/Interact
|
|
||||||
Hide Inactive Objects: true
|
|
||||||
- Class: rviz_default_plugins/MoveCamera
|
|
||||||
- Class: rviz_default_plugins/Select
|
|
||||||
- Class: rviz_default_plugins/FocusCamera
|
|
||||||
- Class: rviz_default_plugins/Measure
|
|
||||||
Line color: 128; 128; 0
|
|
||||||
- Class: rviz_default_plugins/SetInitialPose
|
|
||||||
Covariance x: 0.25
|
|
||||||
Covariance y: 0.25
|
|
||||||
Covariance yaw: 0.06853891909122467
|
|
||||||
Topic:
|
|
||||||
Depth: 5
|
|
||||||
Durability Policy: Volatile
|
|
||||||
History Policy: Keep Last
|
|
||||||
Reliability Policy: Reliable
|
|
||||||
Value: /initialpose
|
|
||||||
- Class: rviz_default_plugins/SetGoal
|
|
||||||
Topic:
|
|
||||||
Depth: 5
|
|
||||||
Durability Policy: Volatile
|
|
||||||
History Policy: Keep Last
|
|
||||||
Reliability Policy: Reliable
|
|
||||||
Value: /goal_pose
|
|
||||||
- Class: rviz_default_plugins/PublishPoint
|
|
||||||
Single click: true
|
|
||||||
Topic:
|
|
||||||
Depth: 5
|
|
||||||
Durability Policy: Volatile
|
|
||||||
History Policy: Keep Last
|
|
||||||
Reliability Policy: Reliable
|
|
||||||
Value: /clicked_point
|
|
||||||
Transformation:
|
|
||||||
Current:
|
|
||||||
Class: rviz_default_plugins/TF
|
|
||||||
Value: true
|
|
||||||
Views:
|
|
||||||
Current:
|
|
||||||
Class: rviz_default_plugins/Orbit
|
|
||||||
Distance: 3.635173797607422
|
|
||||||
Enable Stereo Rendering:
|
|
||||||
Stereo Eye Separation: 0.05999999865889549
|
|
||||||
Stereo Focal Distance: 1
|
|
||||||
Swap Stereo Eyes: false
|
|
||||||
Value: false
|
|
||||||
Focal Point:
|
|
||||||
X: 0
|
|
||||||
Y: 0
|
|
||||||
Z: 0
|
|
||||||
Focal Shape Fixed Size: true
|
|
||||||
Focal Shape Size: 0.05000000074505806
|
|
||||||
Invert Z Axis: false
|
|
||||||
Name: Current View
|
|
||||||
Near Clip Distance: 0.009999999776482582
|
|
||||||
Pitch: 0.8653978705406189
|
|
||||||
Target Frame: <Fixed Frame>
|
|
||||||
Value: Orbit (rviz)
|
|
||||||
Yaw: 3.095397710800171
|
|
||||||
Saved: ~
|
|
||||||
Window Geometry:
|
|
||||||
Displays:
|
|
||||||
collapsed: false
|
|
||||||
Height: 846
|
|
||||||
Hide Left Dock: false
|
|
||||||
Hide Right Dock: false
|
|
||||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000292000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
|
||||||
Selection:
|
|
||||||
collapsed: false
|
|
||||||
Tool Properties:
|
|
||||||
collapsed: false
|
|
||||||
Views:
|
|
||||||
collapsed: false
|
|
||||||
Width: 1283
|
|
||||||
X: 406
|
|
||||||
Y: 152
|
|
||||||
@@ -1,398 +0,0 @@
|
|||||||
#include "lslidar_driver/input.h"
|
|
||||||
|
|
||||||
extern volatile sig_atomic_t flag;
|
|
||||||
namespace lslidar_driver
|
|
||||||
{
|
|
||||||
static const size_t packet_size_input = 400;
|
|
||||||
////////////////////////////////////////////////////////////////////////
|
|
||||||
// Input base class implementation
|
|
||||||
////////////////////////////////////////////////////////////////////////
|
|
||||||
|
|
||||||
/** @brief constructor
|
|
||||||
*
|
|
||||||
* @param private_nh ROS private handle for calling node.
|
|
||||||
* @param port UDP port number.
|
|
||||||
*/
|
|
||||||
Input::Input(rclcpp::Node *private_nh, uint16_t port) : private_nh_(private_nh), port_(port) {
|
|
||||||
npkt_update_flag_ = false;
|
|
||||||
cur_rpm_ = 0;
|
|
||||||
return_mode_ = 1;
|
|
||||||
devip_str_difop = std::string("192.168.1.200");
|
|
||||||
devip_str_ = std::string("192.168.1.102");
|
|
||||||
lidar_name = std::string("M10");
|
|
||||||
add_multicast = false;
|
|
||||||
group_ip = std::string("224.1.1.2");
|
|
||||||
UDP_PORT_NUMBER_DIFOP = 2369;
|
|
||||||
|
|
||||||
|
|
||||||
private_nh->declare_parameter<std::string>("device_ip","192.168.1.102");
|
|
||||||
private_nh->declare_parameter<std::string>("device_ip_difop","192.168.1.200");
|
|
||||||
private_nh->declare_parameter<bool>("add_multicast",false);
|
|
||||||
private_nh->declare_parameter<std::string>("group_ip","224.1.1.2");
|
|
||||||
private_nh->declare_parameter<int>("difop_port",2369);
|
|
||||||
|
|
||||||
|
|
||||||
private_nh->get_parameter("lidar_name", lidar_name);
|
|
||||||
private_nh->get_parameter("device_ip", devip_str_);
|
|
||||||
private_nh->get_parameter("add_multicast", add_multicast);
|
|
||||||
private_nh->get_parameter("group_ip", group_ip);
|
|
||||||
private_nh->get_parameter("difop_port", UDP_PORT_NUMBER_DIFOP);
|
|
||||||
private_nh->get_parameter("device_ip_difop", devip_str_difop);
|
|
||||||
|
|
||||||
if (!devip_str_.empty())
|
|
||||||
RCLCPP_INFO(private_nh->get_logger(), "[driver][input] accepting packets from IP address: %s port: %d",
|
|
||||||
devip_str_.c_str(),port);
|
|
||||||
}
|
|
||||||
|
|
||||||
/** @brief constructor
|
|
||||||
*
|
|
||||||
* @param private_nh ROS private handle for calling node.
|
|
||||||
* @param port UDP port number
|
|
||||||
*/
|
|
||||||
InputSocket::InputSocket(rclcpp::Node *private_nh, uint16_t port) : Input(private_nh, port) {
|
|
||||||
sockfd_ = -1;
|
|
||||||
|
|
||||||
if (!devip_str_.empty()) {
|
|
||||||
inet_aton(devip_str_.c_str(), &devip_);
|
|
||||||
inet_aton(devip_str_difop.c_str(), &devip_difop);
|
|
||||||
}
|
|
||||||
|
|
||||||
RCLCPP_INFO(private_nh_->get_logger(), "[driver][socket] Opening UDP socket: port %d", port);
|
|
||||||
sockfd_ = socket(PF_INET, SOCK_DGRAM, 0);
|
|
||||||
if (sockfd_ == -1) {
|
|
||||||
perror("socket"); // TODO: ROS_ERROR errno
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
int opt = 1;
|
|
||||||
if (setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (const void *) &opt, sizeof(opt))) {
|
|
||||||
perror("setsockopt error!\n");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
sockaddr_in my_addr; // my address information
|
|
||||||
memset(&my_addr, 0, sizeof(my_addr)); // initialize to zeros
|
|
||||||
my_addr.sin_family = AF_INET; // host byte order
|
|
||||||
my_addr.sin_port = htons(port); // port in network byte order
|
|
||||||
my_addr.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP
|
|
||||||
|
|
||||||
if (bind(sockfd_, (sockaddr * ) & my_addr, sizeof(sockaddr)) == -1) {
|
|
||||||
perror("bind"); // TODO: ROS_ERROR errno
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (add_multicast) {
|
|
||||||
struct ip_mreq group;
|
|
||||||
group.imr_multiaddr.s_addr = inet_addr(group_ip.c_str());
|
|
||||||
group.imr_interface.s_addr = htonl(INADDR_ANY);
|
|
||||||
|
|
||||||
if (setsockopt(sockfd_, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *) &group, sizeof(group)) < 0) {
|
|
||||||
perror("Adding multicast group error ");
|
|
||||||
close(sockfd_);
|
|
||||||
exit(1);
|
|
||||||
} else
|
|
||||||
printf("Adding multicast group...OK.\n");
|
|
||||||
}
|
|
||||||
if (fcntl(sockfd_, F_SETFL, O_NONBLOCK | FASYNC) < 0) {
|
|
||||||
perror("non-block");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/** @brief destructor */
|
|
||||||
InputSocket::~InputSocket(void) {
|
|
||||||
(void) close(sockfd_);
|
|
||||||
}
|
|
||||||
|
|
||||||
void Input::UDP_difop()
|
|
||||||
{
|
|
||||||
sockaddr_in server_sai;
|
|
||||||
server_sai.sin_family = AF_INET; // IPV4 协议族
|
|
||||||
server_sai.sin_port = htons(UDP_PORT_NUMBER_DIFOP);
|
|
||||||
server_sai.sin_addr.s_addr = inet_addr(devip_str_.c_str());
|
|
||||||
for (int k = 0; k < 10; k++)
|
|
||||||
{
|
|
||||||
unsigned char data[188]= {0x00};
|
|
||||||
data[0] = 0xA5;
|
|
||||||
data[1] = 0x5A;
|
|
||||||
data[2] = 0x55;
|
|
||||||
data[184] = 0x08;
|
|
||||||
data[185] = 0x01;
|
|
||||||
data[186] = 0xFA;
|
|
||||||
data[187] = 0xFB;
|
|
||||||
int rtn = sendto(sockfd_, data, 188, 0, (struct sockaddr *)&server_sai, sizeof(struct sockaddr));
|
|
||||||
if (rtn < 0) printf("start scan error !\n");
|
|
||||||
else return;
|
|
||||||
}
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
void Input::UDP_order(const std_msgs::msg::Int8 msg)
|
|
||||||
{
|
|
||||||
int i = msg.data;
|
|
||||||
sockaddr_in server_sai;
|
|
||||||
server_sai.sin_family = AF_INET; // IPV4 协议族
|
|
||||||
server_sai.sin_port = htons(UDP_PORT_NUMBER_DIFOP);
|
|
||||||
server_sai.sin_addr.s_addr = inet_addr(devip_str_.c_str());
|
|
||||||
int rtn = 0;
|
|
||||||
for (int k = 0; k < 10; k++)
|
|
||||||
{
|
|
||||||
unsigned char data[188]= {0x00};
|
|
||||||
data[0] = 0xA5;
|
|
||||||
data[1] = 0x5A;
|
|
||||||
data[2] = 0x55;
|
|
||||||
data[186] = 0xFA;
|
|
||||||
data[187] = 0xFB;
|
|
||||||
if(lidar_name == "M10" || lidar_name == "M10_GPS" || lidar_name == "M10_P"){
|
|
||||||
if (i <= 1){ //雷达启停
|
|
||||||
data[184] = 0x01;
|
|
||||||
data[185] = char(i);
|
|
||||||
}
|
|
||||||
else if (i == 2){ //雷达点云不滤波
|
|
||||||
data[181] = 0x0A;
|
|
||||||
data[184] = 0x06;
|
|
||||||
data[185] = 0x01;
|
|
||||||
}
|
|
||||||
else if (i == 3){ //雷达点云正常滤波
|
|
||||||
data[181] = 0x0B;
|
|
||||||
data[184] = 0x06;
|
|
||||||
data[185] = 0x01;
|
|
||||||
}
|
|
||||||
else if (i == 4){ //雷达近距离滤波
|
|
||||||
data[181] = 0x0C;
|
|
||||||
data[184] = 0x06;
|
|
||||||
data[185] = 0x01;
|
|
||||||
}
|
|
||||||
else if (i == 100){ //接收设备包
|
|
||||||
data[184] = 0x08;
|
|
||||||
data[185] = 0x01;
|
|
||||||
}
|
|
||||||
else return;
|
|
||||||
}
|
|
||||||
else if (lidar_name == "M10_PLUS"){
|
|
||||||
data[184] = 0x0A;
|
|
||||||
data[185] = 0x01;
|
|
||||||
if(i == 5) {
|
|
||||||
data[141] = 0x01;
|
|
||||||
data[142] = 0x2c;
|
|
||||||
}
|
|
||||||
else if(i == 6) {
|
|
||||||
data[141] = 0x01;
|
|
||||||
data[142] = 0x68;
|
|
||||||
}
|
|
||||||
else if(i == 8) {
|
|
||||||
data[141] = 0x01;
|
|
||||||
data[142] = 0xe0;
|
|
||||||
}
|
|
||||||
else if(i == 10) {
|
|
||||||
data[141] = 0x02;
|
|
||||||
data[142] = 0x58;
|
|
||||||
}
|
|
||||||
else if(i == 12) {
|
|
||||||
data[141] = 0x02;
|
|
||||||
data[142] = 0xd0;
|
|
||||||
}
|
|
||||||
else if(i == 15) {
|
|
||||||
data[141] = 0x03;
|
|
||||||
data[142] = 0x84;
|
|
||||||
}
|
|
||||||
else if(i == 20) {
|
|
||||||
data[141] = 0x04;
|
|
||||||
data[142] = 0xb0;
|
|
||||||
}
|
|
||||||
else if(i <= 1) {
|
|
||||||
data[184] = 0x01;
|
|
||||||
data[185] = char(i);
|
|
||||||
}
|
|
||||||
else if(i == 100) { //接收设备包
|
|
||||||
data[184] = 0x08;
|
|
||||||
data[185] = 0x01;
|
|
||||||
}
|
|
||||||
else return;
|
|
||||||
}
|
|
||||||
else if(lidar_name == "N10"){
|
|
||||||
if(i <= 1){
|
|
||||||
data[185] = char(i);
|
|
||||||
data[184] = 0x01;
|
|
||||||
}
|
|
||||||
else if(i>=6 && i<=12){
|
|
||||||
data[172] = char(i);
|
|
||||||
data[184] = 0x0a;
|
|
||||||
data[185] = 0X01;
|
|
||||||
}
|
|
||||||
else return;
|
|
||||||
}
|
|
||||||
rtn = sendto(sockfd_, data, 188, 0, (struct sockaddr *)&server_sai, sizeof(struct sockaddr));
|
|
||||||
if (rtn < 0)
|
|
||||||
{
|
|
||||||
printf("start scan error !\n");
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (i == 1)
|
|
||||||
usleep(3000000);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
int InputSocket::getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet)
|
|
||||||
{
|
|
||||||
int q = 0;
|
|
||||||
struct pollfd fds[1];
|
|
||||||
fds[0].fd = sockfd_;
|
|
||||||
fds[0].events = POLLIN;
|
|
||||||
static const int POLL_TIMEOUT = 2000; // one second (in msec)
|
|
||||||
|
|
||||||
sockaddr_in sender_address{};
|
|
||||||
socklen_t sender_address_len = sizeof(sender_address);
|
|
||||||
while (flag == 1)
|
|
||||||
{
|
|
||||||
// poll() until input available
|
|
||||||
do {
|
|
||||||
int retval = poll(fds, 1, POLL_TIMEOUT);
|
|
||||||
if (retval < 0) // poll() error?
|
|
||||||
{
|
|
||||||
if (errno != EINTR)
|
|
||||||
RCLCPP_ERROR(private_nh_->get_logger(), "[driver][socket] poll() error: %s", strerror(errno));
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
if (retval == 0) // poll() timeout?
|
|
||||||
{
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(), "lslidar poll() timeout, port: %d",port_);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) || (fds[0].revents & POLLNVAL)) // device error?
|
|
||||||
{
|
|
||||||
RCLCPP_ERROR(private_nh_->get_logger(),"poll() reports lslidar error");
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
} while ((fds[0].revents & POLLIN) == 0);
|
|
||||||
|
|
||||||
// Receive packets that should now be available from the
|
|
||||||
// socket using a blocking read.
|
|
||||||
ssize_t nbytes = recvfrom(sockfd_, &packet->data[0], packet_size_input, 0,
|
|
||||||
(sockaddr *)&sender_address, &sender_address_len);
|
|
||||||
// ROS_DEBUG_STREAM("incomplete lslidar packet read: "
|
|
||||||
// << nbytes << " bytes");
|
|
||||||
q = (int)nbytes;
|
|
||||||
if (nbytes < 0)
|
|
||||||
{
|
|
||||||
if (errno != EWOULDBLOCK)
|
|
||||||
{
|
|
||||||
perror("recvfail");
|
|
||||||
RCLCPP_ERROR(private_nh_->get_logger(),"recvfail");
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if ((size_t)nbytes <= packet_size_input || (size_t)nbytes >= 50)
|
|
||||||
{
|
|
||||||
|
|
||||||
// read successful,
|
|
||||||
// if packet is not from the lidar scanner we selected by IP,
|
|
||||||
// continue otherwise we are done
|
|
||||||
if (devip_str_ != "" && sender_address.sin_addr.s_addr != devip_.s_addr)
|
|
||||||
continue;
|
|
||||||
else
|
|
||||||
break; // done
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
if (flag == 0)
|
|
||||||
{
|
|
||||||
abort();
|
|
||||||
}
|
|
||||||
|
|
||||||
return q;
|
|
||||||
}
|
|
||||||
InputPCAP::InputPCAP(rclcpp::Node *private_nh, uint16_t port, double packet_rate, std::string filename) : Input(private_nh, port),
|
|
||||||
packet_rate_(packet_rate),
|
|
||||||
filename_(filename)
|
|
||||||
{
|
|
||||||
pcap_ = NULL;
|
|
||||||
empty_ = true;
|
|
||||||
read_once_ = false;
|
|
||||||
read_fast_ = false;
|
|
||||||
repeat_delay_ = 0.0;
|
|
||||||
private_nh->get_parameter("read_once", read_once_);
|
|
||||||
private_nh->get_parameter("read_fast", read_fast_);
|
|
||||||
private_nh->get_parameter("repeat_delay", repeat_delay_);
|
|
||||||
|
|
||||||
if (read_once_)
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"Read input file only once.");
|
|
||||||
if (read_fast_)
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"Read input file as quickly as possible.");
|
|
||||||
if (repeat_delay_ > 0.0)
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"Delay %.3f seconds before repeating input file.", repeat_delay_);
|
|
||||||
|
|
||||||
RCLCPP_INFO(private_nh_->get_logger(),"Opening PCAP file %s",filename_.c_str());
|
|
||||||
if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_)) == NULL)
|
|
||||||
{
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"Error opening lslidar socket dump file.");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
std::stringstream filter;
|
|
||||||
if (devip_str_ != "")
|
|
||||||
{
|
|
||||||
filter << "src host " << devip_str_ << "&&";
|
|
||||||
}
|
|
||||||
filter << "udp dst port " << port;
|
|
||||||
pcap_compile(pcap_, &pcap_packet_filter_, filter.str().c_str(), 1, PCAP_NETMASK_UNKNOWN);
|
|
||||||
}
|
|
||||||
|
|
||||||
InputPCAP::~InputPCAP(void)
|
|
||||||
{
|
|
||||||
pcap_close(pcap_);
|
|
||||||
}
|
|
||||||
|
|
||||||
int InputPCAP::getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &pkt)
|
|
||||||
{
|
|
||||||
struct pcap_pkthdr *header;
|
|
||||||
const u_char *pkt_data;
|
|
||||||
while (flag == 1)
|
|
||||||
{
|
|
||||||
int res;
|
|
||||||
if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0)
|
|
||||||
{
|
|
||||||
// skip packets not for the correct port and from the selected IP address
|
|
||||||
if (!devip_str_.empty() && (0 == pcap_offline_filter(&pcap_packet_filter_, header, pkt_data)))
|
|
||||||
continue;
|
|
||||||
|
|
||||||
if (read_fast_ == false)
|
|
||||||
packet_rate_.sleep();
|
|
||||||
mempcpy(&pkt->data[0], pkt_data + 42, packet_size_input);
|
|
||||||
empty_ = false;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
if (empty_)
|
|
||||||
{
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"Error %d reading lslidar packet: %s", res, pcap_geterr(pcap_));
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
if (read_once_)
|
|
||||||
{
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"end of file reached -- done reading.");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
if (repeat_delay_ > 0.0)
|
|
||||||
{
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"end of file reached -- delaying %.3f seconds.", repeat_delay_);
|
|
||||||
usleep(rint(repeat_delay_ * 1000000.0));
|
|
||||||
}
|
|
||||||
RCLCPP_WARN(private_nh_->get_logger(),"replayding lsliar dump file");
|
|
||||||
|
|
||||||
pcap_close(pcap_);
|
|
||||||
pcap_ = pcap_open_offline(filename_.c_str(), errbuf_);
|
|
||||||
empty_ = true;
|
|
||||||
}
|
|
||||||
if (flag == 0)
|
|
||||||
{
|
|
||||||
abort();
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
} // namespace
|
|
||||||
@@ -1,400 +0,0 @@
|
|||||||
/*******************************************************
|
|
||||||
@company: Copyright (C) 2022, Leishen Intelligent System
|
|
||||||
@product: LSM10 and N10
|
|
||||||
@filename: lsiosr.cpp
|
|
||||||
@brief:
|
|
||||||
@version: date: author: comments:
|
|
||||||
@v1.0 21-2-4 yao new
|
|
||||||
*******************************************************/
|
|
||||||
#include "lslidar_driver/lsiosr.h"
|
|
||||||
|
|
||||||
namespace lslidar_driver {
|
|
||||||
|
|
||||||
LSIOSR * LSIOSR::instance(std::string name, int speed, int fd)
|
|
||||||
{
|
|
||||||
static LSIOSR obj(name, speed, fd);
|
|
||||||
return &obj;
|
|
||||||
}
|
|
||||||
|
|
||||||
LSIOSR::LSIOSR(std::string port, int baud_rate, int fd):port_(port), baud_rate_(baud_rate), fd_(fd)
|
|
||||||
{
|
|
||||||
printf("port = %s, baud_rate = %d\n", port.c_str(), baud_rate);
|
|
||||||
}
|
|
||||||
|
|
||||||
LSIOSR::~LSIOSR()
|
|
||||||
{
|
|
||||||
close();
|
|
||||||
}
|
|
||||||
/* 串口配置的函数 */
|
|
||||||
int LSIOSR::setOpt(int nBits, uint8_t nEvent, int nStop)
|
|
||||||
{
|
|
||||||
struct termios newtio, oldtio;
|
|
||||||
/*保存测试现有串口参数设置，在这里如果串口号等出错，会有相关的出错信息*/
|
|
||||||
if (tcgetattr(fd_, &oldtio) != 0)
|
|
||||||
{
|
|
||||||
perror("SetupSerial 1");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
bzero(&newtio, sizeof(newtio));
|
|
||||||
/*步骤一，设置字符大小*/
|
|
||||||
newtio.c_cflag |= CLOCAL; //如果设置，modem 的控制线将会被忽略。如果没有设置，则 open()函数会阻塞直到载波检测线宣告 modem 处于摘机状态为止。
|
|
||||||
newtio.c_cflag |= CREAD; //使端口能读取输入的数据
|
|
||||||
/*设置每个数据的位数*/
|
|
||||||
switch (nBits)
|
|
||||||
{
|
|
||||||
case 7:
|
|
||||||
newtio.c_cflag |= CS7;
|
|
||||||
break;
|
|
||||||
case 8:
|
|
||||||
newtio.c_cflag |= CS8;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
/*设置奇偶校验位*/
|
|
||||||
switch (nEvent)
|
|
||||||
{
|
|
||||||
case 'O': //奇数
|
|
||||||
newtio.c_iflag |= (INPCK | ISTRIP);
|
|
||||||
newtio.c_cflag |= PARENB; //使能校验，如果不设PARODD则是偶校验
|
|
||||||
newtio.c_cflag |= PARODD; //奇校验
|
|
||||||
break;
|
|
||||||
case 'E': //偶数
|
|
||||||
newtio.c_iflag |= (INPCK | ISTRIP);
|
|
||||||
newtio.c_cflag |= PARENB;
|
|
||||||
newtio.c_cflag &= ~PARODD;
|
|
||||||
break;
|
|
||||||
case 'N': //无奇偶校验位
|
|
||||||
newtio.c_cflag &= ~PARENB;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
/*设置波特率*/
|
|
||||||
switch (baud_rate_)
|
|
||||||
{
|
|
||||||
case 230400:
|
|
||||||
cfsetispeed(&newtio, B230400);
|
|
||||||
cfsetospeed(&newtio, B230400);
|
|
||||||
break;
|
|
||||||
case 460800:
|
|
||||||
cfsetispeed(&newtio, B460800);
|
|
||||||
cfsetospeed(&newtio, B460800);
|
|
||||||
break;
|
|
||||||
case 500000:
|
|
||||||
cfsetispeed(&newtio, B500000);
|
|
||||||
cfsetospeed(&newtio, B500000);
|
|
||||||
break;
|
|
||||||
case 921600:
|
|
||||||
cfsetispeed(&newtio, B921600);
|
|
||||||
cfsetospeed(&newtio, B921600);
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
cfsetispeed(&newtio, B460800);
|
|
||||||
cfsetospeed(&newtio, B460800);
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* 设置停止位
|
|
||||||
* 设置停止位的位数， 如果设置，则会在每帧后产生两个停止位， 如果没有设置，则产生一个
|
|
||||||
* 停止位。一般都是使用一位停止位。需要两位停止位的设备已过时了。
|
|
||||||
* */
|
|
||||||
if (nStop == 1)
|
|
||||||
newtio.c_cflag &= ~CSTOPB;
|
|
||||||
else if (nStop == 2)
|
|
||||||
newtio.c_cflag |= CSTOPB;
|
|
||||||
/*设置等待时间和最小接收字符*/
|
|
||||||
newtio.c_cc[VTIME] = 0;
|
|
||||||
newtio.c_cc[VMIN] = 0;
|
|
||||||
/*处理未接收字符*/
|
|
||||||
tcflush(fd_, TCIFLUSH);
|
|
||||||
/*激活新配置*/
|
|
||||||
if ((tcsetattr(fd_, TCSANOW, &newtio)) != 0)
|
|
||||||
{
|
|
||||||
perror("serial set error");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
void LSIOSR::flushinput() {
|
|
||||||
tcflush(fd_, TCIFLUSH);
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 从串口中读取数据 */
|
|
||||||
int LSIOSR::read(unsigned char *buffer, int length, int timeout)
|
|
||||||
{
|
|
||||||
memset(buffer, 0, length);
|
|
||||||
|
|
||||||
int totalBytesRead = 0;
|
|
||||||
int rc;
|
|
||||||
int unlink = 0;
|
|
||||||
unsigned char* pb = buffer;
|
|
||||||
|
|
||||||
if (timeout > 0)
|
|
||||||
{
|
|
||||||
rc = waitReadable(timeout);
|
|
||||||
if (rc <= 0)
|
|
||||||
{
|
|
||||||
return (rc == 0) ? 0 : -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
int retry = 3;
|
|
||||||
while (length > 0)
|
|
||||||
{
|
|
||||||
rc = ::read(fd_, pb, (size_t)length);
|
|
||||||
|
|
||||||
if (rc > 0)
|
|
||||||
{
|
|
||||||
length -= rc;
|
|
||||||
pb += rc;
|
|
||||||
totalBytesRead += rc;
|
|
||||||
|
|
||||||
if (length == 0)
|
|
||||||
{
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if (rc < 0)
|
|
||||||
{
|
|
||||||
printf("error \n");
|
|
||||||
retry--;
|
|
||||||
if (retry <= 0)
|
|
||||||
{
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
unlink++;
|
|
||||||
rc = waitReadable(20);
|
|
||||||
if(unlink > 10)
|
|
||||||
return -1;
|
|
||||||
|
|
||||||
if (rc <= 0)
|
|
||||||
{
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
rc = ::read(fd_, pb, (size_t)length);
|
|
||||||
|
|
||||||
if (rc > 0)
|
|
||||||
{
|
|
||||||
totalBytesRead += rc;
|
|
||||||
}
|
|
||||||
else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN))
|
|
||||||
{
|
|
||||||
printf("read error\n");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return totalBytesRead;
|
|
||||||
}
|
|
||||||
|
|
||||||
int LSIOSR::waitReadable(int millis)
|
|
||||||
{
|
|
||||||
if (fd_ < 0)
|
|
||||||
{
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
int serial = fd_;
|
|
||||||
|
|
||||||
fd_set fdset;
|
|
||||||
struct timeval tv;
|
|
||||||
int rc = 0;
|
|
||||||
|
|
||||||
while (millis > 0)
|
|
||||||
{
|
|
||||||
if (millis < 5000)
|
|
||||||
{
|
|
||||||
tv.tv_usec = millis % 1000 * 1000;
|
|
||||||
tv.tv_sec = millis / 1000;
|
|
||||||
|
|
||||||
millis = 0;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
tv.tv_usec = 0;
|
|
||||||
tv.tv_sec = 5;
|
|
||||||
|
|
||||||
millis -= 5000;
|
|
||||||
}
|
|
||||||
|
|
||||||
FD_ZERO(&fdset);
|
|
||||||
FD_SET(serial, &fdset);
|
|
||||||
|
|
||||||
rc = select(serial + 1, &fdset, NULL, NULL, &tv);
|
|
||||||
if (rc > 0)
|
|
||||||
{
|
|
||||||
rc = (FD_ISSET(serial, &fdset)) ? 1 : -1;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
else if (rc < 0)
|
|
||||||
{
|
|
||||||
rc = -1;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return rc;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int LSIOSR::waitWritable(int millis)
|
|
||||||
{
|
|
||||||
if (fd_ < 0)
|
|
||||||
{
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
int serial = fd_;
|
|
||||||
|
|
||||||
fd_set fdset;
|
|
||||||
struct timeval tv;
|
|
||||||
int rc = 0;
|
|
||||||
|
|
||||||
while (millis > 0)
|
|
||||||
{
|
|
||||||
if (millis < 5000)
|
|
||||||
{
|
|
||||||
tv.tv_usec = millis % 1000 * 1000;
|
|
||||||
tv.tv_sec = millis / 1000;
|
|
||||||
|
|
||||||
millis = 0;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
tv.tv_usec = 0;
|
|
||||||
tv.tv_sec = 5;
|
|
||||||
|
|
||||||
millis -= 5000;
|
|
||||||
}
|
|
||||||
|
|
||||||
FD_ZERO(&fdset);
|
|
||||||
FD_SET(serial, &fdset);
|
|
||||||
|
|
||||||
rc = select(serial + 1, NULL, &fdset, NULL, &tv);
|
|
||||||
if (rc > 0)
|
|
||||||
{
|
|
||||||
rc = (FD_ISSET(serial, &fdset)) ? 1 : -1;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
else if (rc < 0)
|
|
||||||
{
|
|
||||||
rc = -1;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return rc;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 向串口中发送数据 */
|
|
||||||
int LSIOSR::send(const char* buffer, int length, int timeout)
|
|
||||||
{
|
|
||||||
if (fd_ < 0)
|
|
||||||
{
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
if ((buffer == 0) || (length <= 0))
|
|
||||||
{
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
int totalBytesWrite = 0;
|
|
||||||
int rc;
|
|
||||||
char* pb = (char*)buffer;
|
|
||||||
|
|
||||||
|
|
||||||
if (timeout > 0)
|
|
||||||
{
|
|
||||||
rc = waitWritable(timeout);
|
|
||||||
if (rc <= 0)
|
|
||||||
{
|
|
||||||
return (rc == 0) ? 0 : -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
int retry = 3;
|
|
||||||
while (length > 0)
|
|
||||||
{
|
|
||||||
rc = write(fd_, pb, (size_t)length);
|
|
||||||
if (rc > 0)
|
|
||||||
{
|
|
||||||
length -= rc;
|
|
||||||
pb += rc;
|
|
||||||
totalBytesWrite += rc;
|
|
||||||
|
|
||||||
if (length == 0)
|
|
||||||
{
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
retry--;
|
|
||||||
if (retry <= 0)
|
|
||||||
{
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
rc = waitWritable(50);
|
|
||||||
if (rc <= 0)
|
|
||||||
{
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
rc = write(fd_, pb, (size_t)length);
|
|
||||||
if (rc > 0)
|
|
||||||
{
|
|
||||||
totalBytesWrite += rc;
|
|
||||||
}
|
|
||||||
else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN))
|
|
||||||
{
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return totalBytesWrite;
|
|
||||||
}
|
|
||||||
|
|
||||||
int LSIOSR::init()
|
|
||||||
{
|
|
||||||
int error_code = 0;
|
|
||||||
|
|
||||||
fd_ = open(port_.c_str(), O_RDWR|O_NOCTTY|O_NDELAY);
|
|
||||||
if (0 < fd_)
|
|
||||||
{
|
|
||||||
error_code = 0;
|
|
||||||
setOpt(DATA_BIT_8, PARITY_NONE, STOP_BIT_1);//设置串口参数
|
|
||||||
//printf("open_port %s OK !\n", port_.c_str());
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
error_code = -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
return error_code;
|
|
||||||
}
|
|
||||||
|
|
||||||
int LSIOSR::close()
|
|
||||||
{
|
|
||||||
::close(fd_);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
std::string LSIOSR::getPort()
|
|
||||||
{
|
|
||||||
return port_;
|
|
||||||
}
|
|
||||||
|
|
||||||
int LSIOSR::setPortName(std::string name)
|
|
||||||
{
|
|
||||||
port_ = name;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,35 +0,0 @@
|
|||||||
/*
|
|
||||||
* This file is part of lslidar driver.
|
|
||||||
*
|
|
||||||
* The driver is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* The driver is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with the driver. If not, see <http://www.gnu.org/licenses/>.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include "rclcpp/rclcpp.hpp"
|
|
||||||
#include "lslidar_driver/lslidar_driver.h"
|
|
||||||
|
|
||||||
using namespace lslidar_driver;
|
|
||||||
volatile sig_atomic_t flag = 1;
|
|
||||||
|
|
||||||
int main(int argc, char* argv[])
|
|
||||||
{
|
|
||||||
rclcpp::init(argc, argv);
|
|
||||||
auto node = std::make_shared<lslidar_driver::LslidarDriver>();
|
|
||||||
|
|
||||||
while (rclcpp::ok() && node->polling()) {
|
|
||||||
rclcpp::spin_some(node);
|
|
||||||
}
|
|
||||||
//rclcpp::spin(node);
|
|
||||||
rclcpp::shutdown();
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@@ -1,39 +0,0 @@
|
|||||||
cmake_minimum_required(VERSION 3.5)
|
|
||||||
project(lslidar_msgs)
|
|
||||||
|
|
||||||
# Default to C99
|
|
||||||
if(NOT CMAKE_C_STANDARD)
|
|
||||||
set(CMAKE_C_STANDARD 99)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Default to C++14
|
|
||||||
if(NOT CMAKE_CXX_STANDARD)
|
|
||||||
set(CMAKE_CXX_STANDARD 14)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
||||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# find dependencies
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
find_package(std_msgs REQUIRED)
|
|
||||||
find_package(sensor_msgs REQUIRED)
|
|
||||||
find_package(builtin_interfaces REQUIRED)
|
|
||||||
find_package(rosidl_default_generators REQUIRED)
|
|
||||||
|
|
||||||
if(BUILD_TESTING)
|
|
||||||
find_package(ament_lint_auto REQUIRED)
|
|
||||||
ament_lint_auto_find_test_dependencies()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
rosidl_generate_interfaces(lslidar_msgs
|
|
||||||
"msg/LslidarDifop.msg"
|
|
||||||
"msg/LslidarPacket.msg"
|
|
||||||
"msg/LslidarPoint.msg"
|
|
||||||
"msg/LslidarScan.msg"
|
|
||||||
"msg/LslidarSweep.msg"
|
|
||||||
DEPENDENCIES builtin_interfaces std_msgs
|
|
||||||
)
|
|
||||||
|
|
||||||
ament_package()
|
|
||||||
@@ -1,2 +0,0 @@
|
|||||||
int64 temperature
|
|
||||||
int64 rpm
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
# Raw Leishen LIDAR packet.
|
|
||||||
|
|
||||||
builtin_interfaces/Time stamp # packet timestamp
|
|
||||||
uint8[2000] data # packet contents
|
|
||||||
|
|
||||||
@@ -1,12 +0,0 @@
|
|||||||
# Time when the point is captured
|
|
||||||
float32 time
|
|
||||||
|
|
||||||
# Converted distance in the sensor frame
|
|
||||||
float64 x
|
|
||||||
float64 y
|
|
||||||
float64 z
|
|
||||||
|
|
||||||
# Raw measurement from Leishen M10
|
|
||||||
float64 azimuth
|
|
||||||
float64 distance
|
|
||||||
float64 intensity
|
|
||||||
@@ -1,6 +0,0 @@
|
|||||||
# Altitude of all the points within this scan
|
|
||||||
float64 altitude
|
|
||||||
|
|
||||||
# The valid points in this scan sorted by azimuth
|
|
||||||
# from 0 to 359.99
|
|
||||||
LslidarPoint[] points
|
|
||||||
@@ -1,4 +0,0 @@
|
|||||||
std_msgs/Header header
|
|
||||||
|
|
||||||
# The 0th scan is at the bottom
|
|
||||||
LslidarScan[16] scans
|
|
||||||
@@ -1,25 +0,0 @@
|
|||||||
<?xml version="1.0"?>
|
|
||||||
<package format="3">
|
|
||||||
<name>lslidar_msgs</name>
|
|
||||||
<version>1.2.0</version>
|
|
||||||
<description>ROS message definitions for Leishen LIDARs.</description>
|
|
||||||
<maintainer email="shaohuashu@lslidar.com">Nick Shu</maintainer>
|
|
||||||
<author>Nick Shu</author>
|
|
||||||
<license>GNU General Public License V3.0</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
<buildtool_depend>rosidl_default_generators</buildtool_depend>
|
|
||||||
|
|
||||||
<exec_depend>rosidl_default_runtime</exec_depend>
|
|
||||||
<exec_depend>builtin_interfaces</exec_depend>
|
|
||||||
|
|
||||||
<depend>std_msgs</depend>
|
|
||||||
<test_depend>ament_lint_auto</test_depend>
|
|
||||||
<test_depend>ament_lint_common</test_depend>
|
|
||||||
|
|
||||||
<member_of_group>rosidl_interface_packages</member_of_group>
|
|
||||||
|
|
||||||
<export>
|
|
||||||
<build_type>ament_cmake</build_type>
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
@@ -1,20 +0,0 @@
|
|||||||
版本变更
|
|
||||||
/***************************************************************
|
|
||||||
初始版本: LSLIDAR_M10_N10_V2.5.0_221104_ROS2
|
|
||||||
变更内容:
|
|
||||||
1.实现M10/M10_P/M10_PLUS/N10/M10_GPS网口和串口传输数据生成点云功能
|
|
||||||
2.实现点云角度裁剪和距离过滤功能
|
|
||||||
3.可以通过lslidar_order话题控制雷达启停
|
|
||||||
4.支持读取pcap包
|
|
||||||
|
|
||||||
更改日期: 2022-11-04
|
|
||||||
***************************************************************/
|
|
||||||
|
|
||||||
/***************************************************************
|
|
||||||
初始版本: LSLIDAR_M10_N10_V2.5.0_221111_ROS2
|
|
||||||
变更内容:
|
|
||||||
1.针对M10和M10_GPS雷达出货后发现的点云问题进行驱动补救
|
|
||||||
|
|
||||||
更改日期: 2022-11-11
|
|
||||||
***************************************************************/
|
|
||||||
|
|
||||||
@@ -1,33 +0,0 @@
|
|||||||
#CP2102 串口号0002 设置别名为wheeltec_controller
|
|
||||||
echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_controller.rules
|
|
||||||
#CH9102，同时系统安装了对应驱动 串口号0002 设置别名为wheeltec_controller
|
|
||||||
echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_controller2.rules
|
|
||||||
#CH9102，同时系统没有安装对应驱动 串口号0002 设置别名为wheeltec_controller
|
|
||||||
echo 'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_controller3.rules
|
|
||||||
|
|
||||||
#CP2102 串口号0001 设置别名为wheeltec_lidar
|
|
||||||
echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0001", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_lidar"' >/etc/udev/rules.d/wheeltec_lidar.rules
|
|
||||||
#CH9102，同时系统安装了对应驱动 串口号0001 设置别名为wheeltec_lidar
|
|
||||||
echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="54B8001974", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_lidar"' >/etc/udev/rules.d/wheeltec_lidar2.rules
|
|
||||||
#CH9102，同时系统没有安装对应驱动 串口号0001 设置别名为wheeltec_lidar
|
|
||||||
echo 'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0001", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_lidar"' >/etc/udev/rules.d/wheeltec_lidar3.rules
|
|
||||||
|
|
||||||
#CP2102 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
|
|
||||||
echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss.rules
|
|
||||||
#CH9102，同时系统安装了对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
|
|
||||||
echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss2.rules
|
|
||||||
#CH9102，同时系统没有安装对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
|
|
||||||
echo 'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss3.rules
|
|
||||||
|
|
||||||
echo 'SUBSYSTEM=="video4linux",ATTR{name}=="GENERAL WEBCAM",ATTR{index}=="0",MODE:="0777",SYMLINK+="RgbCam"' >>/etc/udev/rules.d/camera.rules
|
|
||||||
echo 'SUBSYSTEM=="video4linux",ATTR{name}=="GENERAL WEBCAM: GENERAL WEBCAM",ATTR{index}=="0",MODE:="0777",SYMLINK+="RgbCam"' >>/etc/udev/rules.d/camera.rules
|
|
||||||
echo 'SUBSYSTEM=="video4linux",ATTR{name}=="Astra Pro HD Camera: Astra Pro ",ATTR{index}=="0",MODE:="0777",SYMLINK+="Astra_Pro"' >>/etc/udev/rules.d/camera.rules
|
|
||||||
echo 'SUBSYSTEM=="video4linux",ATTR{name}=="USB 2.0 Camera: USB Camera",ATTR{index}=="0",MODE:="0777",SYMLINK+="Astra_Dabai"' >>/etc/udev/rules.d/camera.rules
|
|
||||||
echo 'SUBSYSTEM=="video4linux",ATTR{name}=="USB 2.0 Camera",ATTR{index}=="0",MODE:="0777",SYMLINK+="Astra_Gemini"' >>/etc/udev/rules.d/camera.rules
|
|
||||||
echo 'SUBSYSTEM=="video4linux",ATTR{name}=="Intel(R) RealSense(TM) Depth Ca",ATTR{index}=="0",MODE:="0777",SYMLINK+="realsense"' >>/etc/udev/rules.d/camera.rules
|
|
||||||
|
|
||||||
service udev reload
|
|
||||||
sleep 2
|
|
||||||
service udev restart
|
|
||||||
|
|
||||||
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 6.5 KiB |
@@ -1,62 +0,0 @@
|
|||||||
import os
|
|
||||||
from pathlib import Path
|
|
||||||
import launch_ros.actions
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch.actions import (DeclareLaunchArgument, GroupAction,
|
|
||||||
IncludeLaunchDescription, SetEnvironmentVariable)
|
|
||||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
Lslidar_dir = get_package_share_directory('lslidar_driver')
|
|
||||||
Lslidar_launch_dir = os.path.join(Lslidar_dir, 'launch')
|
|
||||||
|
|
||||||
|
|
||||||
Ld14_dir = get_package_share_directory('ldlidar_sl_ros2')
|
|
||||||
Ld14_launch_dir = os.path.join(Ld14_dir, 'launch')
|
|
||||||
|
|
||||||
Ld06_dir = get_package_share_directory('ldlidar_stl_ros2')
|
|
||||||
Ld06_launch_dir = os.path.join(Ld14_dir, 'launch')
|
|
||||||
|
|
||||||
|
|
||||||
Lsm10_m10_uart = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_uart_launch.py')),)
|
|
||||||
|
|
||||||
Lsm10_m10_net = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_net_launch.py')),)
|
|
||||||
|
|
||||||
Lsm10_m10p_uart = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_uart_launch.py')),)
|
|
||||||
|
|
||||||
Lsm10_m10p_net = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_net_launch.py')),)
|
|
||||||
|
|
||||||
Lsn10 = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_launch.py')),)
|
|
||||||
Lsn10p = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_launch.py')),)
|
|
||||||
|
|
||||||
Lsn10_net = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_net_launch.py')),)
|
|
||||||
Lsn10p_net = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_net_launch.py')),)
|
|
||||||
|
|
||||||
Ld14 = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Ld14_launch_dir, 'ld14.launch.py')),)
|
|
||||||
Ld06 = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(os.path.join(Ld06_launch_dir, 'ld06.launch.py')),)
|
|
||||||
|
|
||||||
# Create the launch description and populate
|
|
||||||
ld = LaunchDescription()
|
|
||||||
'''
|
|
||||||
Please select your lidar here, options include:
|
|
||||||
Lsm10_m10p_uart、Lsm10_m10p_net、Lsm10_m10_uart、Lsm10_m10_net、Lsn10、Lsn10p,Lsn10_net、Lsn10p_net,ld14、Ld06.
|
|
||||||
1.If you are using LS* lidar (including lsn10, lsm10*), please don't forget to
|
|
||||||
modify the tf conversion parameters of robot_mode_description.launch.py
|
|
||||||
according to the user guide file.
|
|
||||||
2.If you are using m10 lidar, please pay attention to distinguish whether it is m10p or not.
|
|
||||||
'''
|
|
||||||
ld.add_action(Lsn10)
|
|
||||||
|
|
||||||
return ld
|
|
||||||
|
|
||||||
@@ -1,29 +0,0 @@
|
|||||||
cmake_minimum_required(VERSION 3.8)
|
|
||||||
project(cyy_navigation2)
|
|
||||||
|
|
||||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
||||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# find dependencies
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
find_package(nav2_bringup REQUIRED)
|
|
||||||
install(
|
|
||||||
DIRECTORY launch param maps
|
|
||||||
DESTINATION share/${PROJECT_NAME}
|
|
||||||
)
|
|
||||||
|
|
||||||
if(BUILD_TESTING)
|
|
||||||
find_package(ament_lint_auto REQUIRED)
|
|
||||||
# the following line skips the linter which checks for copyrights
|
|
||||||
# comment the line when a copyright and license is added to all source files
|
|
||||||
set(ament_cmake_copyright_FOUND TRUE)
|
|
||||||
# the following line skips cpplint (only works in a git repo)
|
|
||||||
# comment the line when this package is in a git repo and when
|
|
||||||
# a copyright and license is added to all source files
|
|
||||||
set(ament_cmake_cpplint_FOUND TRUE)
|
|
||||||
ament_lint_auto_find_test_dependencies()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
ament_package()
|
|
||||||
|
|
||||||
@@ -1,21 +0,0 @@
|
|||||||
<!--
|
|
||||||
This Behavior Tree follows a dynamic pose to a certain distance
|
|
||||||
-->
|
|
||||||
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<RateController hz="1.0">
|
|
||||||
<Sequence>
|
|
||||||
<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
|
|
||||||
<ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</GoalUpdater>
|
|
||||||
<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
|
|
||||||
</Sequence>
|
|
||||||
</RateController>
|
|
||||||
<KeepRunningUntilFailure>
|
|
||||||
<FollowPath path="{truncated_path}" controller_id="FollowPath"/>
|
|
||||||
</KeepRunningUntilFailure>
|
|
||||||
</PipelineSequence>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,46 +0,0 @@
|
|||||||
<!--
|
|
||||||
This Behavior Tree replans the global path once every 15 seconds or if the path becomes invalid. It also has
|
|
||||||
recovery actions specific to planning / control as well as general system issues.
|
|
||||||
This will be continuous if a kinematically valid planner is selected.
|
|
||||||
-->
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<RateController hz="2.0">
|
|
||||||
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
|
|
||||||
<Fallback>
|
|
||||||
<ReactiveSequence>
|
|
||||||
<Inverter>
|
|
||||||
<PathExpiringTimer seconds="10" path="{path}"/>
|
|
||||||
</Inverter>
|
|
||||||
<Inverter>
|
|
||||||
<GlobalUpdatedGoal/>
|
|
||||||
</Inverter>
|
|
||||||
<IsPathValid path="{path}"/>
|
|
||||||
</ReactiveSequence>
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</Fallback>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</RateController>
|
|
||||||
<RecoveryNode number_of_retries="1" name="FollowPath">
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</PipelineSequence>
|
|
||||||
<ReactiveFallback name="RecoveryFallback">
|
|
||||||
<GoalUpdated/>
|
|
||||||
<RoundRobin name="RecoveryActions">
|
|
||||||
<Sequence name="ClearingActions">
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</Sequence>
|
|
||||||
<Spin spin_dist="1.57"/>
|
|
||||||
<Wait wait_duration="5"/>
|
|
||||||
<BackUp backup_dist="0.30" backup_speed="0.05"/>
|
|
||||||
</RoundRobin>
|
|
||||||
</ReactiveFallback>
|
|
||||||
</RecoveryNode>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,38 +0,0 @@
|
|||||||
|
|
||||||
<!--
|
|
||||||
This Behavior Tree replans the global path periodically at 1 Hz through an array of poses continuously
|
|
||||||
and it also has recovery actions specific to planning / control as well as general system issues.
|
|
||||||
-->
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<RateController hz="0.333">
|
|
||||||
<RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
|
|
||||||
<ReactiveSequence>
|
|
||||||
<RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
|
|
||||||
<ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</ReactiveSequence>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</RateController>
|
|
||||||
<RecoveryNode number_of_retries="1" name="FollowPath">
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</PipelineSequence>
|
|
||||||
<ReactiveFallback name="RecoveryFallback">
|
|
||||||
<GoalUpdated/>
|
|
||||||
<RoundRobin name="RecoveryActions">
|
|
||||||
<Sequence name="ClearingActions">
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</Sequence>
|
|
||||||
<Spin spin_dist="1.57"/>
|
|
||||||
<Wait wait_duration="5"/>
|
|
||||||
<BackUp backup_dist="0.30" backup_speed="0.05"/>
|
|
||||||
</RoundRobin>
|
|
||||||
</ReactiveFallback>
|
|
||||||
</RecoveryNode>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,36 +0,0 @@
|
|||||||
|
|
||||||
<!--
|
|
||||||
This Behavior Tree replans the global path periodically at 1 Hz and it also has
|
|
||||||
recovery actions specific to planning / control as well as general system issues.
|
|
||||||
This will be continuous if a kinematically valid planner is selected.
|
|
||||||
-->
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<RateController hz="1.0">
|
|
||||||
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</RateController>
|
|
||||||
<RecoveryNode number_of_retries="1" name="FollowPath">
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</PipelineSequence>
|
|
||||||
<ReactiveFallback name="RecoveryFallback">
|
|
||||||
<GoalUpdated/>
|
|
||||||
<RoundRobin name="RecoveryActions">
|
|
||||||
<Sequence name="ClearingActions">
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</Sequence>
|
|
||||||
<Spin spin_dist="1.57"/>
|
|
||||||
<Wait wait_duration="5"/>
|
|
||||||
<BackUp backup_dist="0.30" backup_speed="0.05"/>
|
|
||||||
</RoundRobin>
|
|
||||||
</ReactiveFallback>
|
|
||||||
</RecoveryNode>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,47 +0,0 @@
|
|||||||
|
|
||||||
<!--
|
|
||||||
This BT has all the functionalities of navigate_to_pose_w_replanning_and_recovery.xml,
|
|
||||||
with an additional feature to cancel the control closer to the goal proximity and
|
|
||||||
make the robot wait for a specific time, to see if the obstacle clears out before
|
|
||||||
navigating along a significantly longer path to reach the goal location.
|
|
||||||
-->
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<RateController hz="1.0">
|
|
||||||
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</RateController>
|
|
||||||
<ReactiveSequence name="MonitorAndFollowPath">
|
|
||||||
<PathLongerOnApproach path="{path}" prox_len="3.0" length_factor="2.0">
|
|
||||||
<RetryUntilSuccessful num_attempts="1">
|
|
||||||
<SequenceStar name="CancelingControlAndWait">
|
|
||||||
<CancelControl name="ControlCancel"/>
|
|
||||||
<Wait wait_duration="5"/>
|
|
||||||
</SequenceStar>
|
|
||||||
</RetryUntilSuccessful>
|
|
||||||
</PathLongerOnApproach>
|
|
||||||
<RecoveryNode number_of_retries="1" name="FollowPath">
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</ReactiveSequence>
|
|
||||||
</PipelineSequence>
|
|
||||||
<ReactiveFallback name="RecoveryFallback">
|
|
||||||
<GoalUpdated/>
|
|
||||||
<RoundRobin name="RecoveryActions">
|
|
||||||
<Sequence name="ClearingActions">
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</Sequence>
|
|
||||||
<Spin spin_dist="1.57"/>
|
|
||||||
<Wait wait_duration="5"/>
|
|
||||||
<BackUp backup_dist="0.30" backup_speed="0.05"/>
|
|
||||||
</RoundRobin>
|
|
||||||
</ReactiveFallback>
|
|
||||||
</RecoveryNode>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,44 +0,0 @@
|
|||||||
|
|
||||||
<!--
|
|
||||||
This Behavior Tree replans the global path only if the path becomes invalid and it also has
|
|
||||||
recovery actions specific to planning / control as well as general system issues.
|
|
||||||
This will be continuous if a kinematically valid planner is selected.
|
|
||||||
-->
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
|
|
||||||
<PipelineSequence>
|
|
||||||
<RateController hz="1.0" name="RateControllerComputePathToPose">
|
|
||||||
<RecoveryNode number_of_retries="1" name="RecoveryComputePathToPose">
|
|
||||||
<Fallback name="FallbackComputePathToPose">
|
|
||||||
<ReactiveSequence name="CheckIfNewPathNeeded">
|
|
||||||
<Inverter>
|
|
||||||
<GlobalUpdatedGoal/>
|
|
||||||
</Inverter>
|
|
||||||
<IsPathValid path="{path}"/>
|
|
||||||
</ReactiveSequence>
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</Fallback>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</RateController>
|
|
||||||
<RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
</RecoveryNode>
|
|
||||||
</PipelineSequence>
|
|
||||||
<ReactiveFallback name="FallbackRecoveries">
|
|
||||||
<GoalUpdated/>
|
|
||||||
<RoundRobin name="RecoveryActions">
|
|
||||||
<Sequence name="ClearingActions">
|
|
||||||
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
|
|
||||||
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
|
|
||||||
</Sequence>
|
|
||||||
<Spin name="SpinRecovery" spin_dist="1.57"/>
|
|
||||||
<Wait name="WaitRecovery" wait_duration="5"/>
|
|
||||||
<BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05"/>
|
|
||||||
</RoundRobin>
|
|
||||||
</ReactiveFallback>
|
|
||||||
</RecoveryNode>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,14 +0,0 @@
|
|||||||
<!--
|
|
||||||
This Behavior Tree replans the global path after every 1m.
|
|
||||||
-->
|
|
||||||
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<DistanceController distance="1.0">
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</DistanceController>
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
</PipelineSequence>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,14 +0,0 @@
|
|||||||
<!--
|
|
||||||
This Behavior Tree replans the global path only when the goal is updated.
|
|
||||||
-->
|
|
||||||
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<GoalUpdatedController>
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</GoalUpdatedController>
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
</PipelineSequence>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,21 +0,0 @@
|
|||||||
<!--
|
|
||||||
This Behavior Tree replans the global path only if the path becomes invalid
|
|
||||||
-->
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<RateController hz="1.0">
|
|
||||||
<Fallback>
|
|
||||||
<ReactiveSequence>
|
|
||||||
<Inverter>
|
|
||||||
<GlobalUpdatedGoal/>
|
|
||||||
</Inverter>
|
|
||||||
<IsPathValid path="{path}"/>
|
|
||||||
</ReactiveSequence>
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</Fallback>
|
|
||||||
</RateController>
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
</PipelineSequence>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,14 +0,0 @@
|
|||||||
<!--
|
|
||||||
This Behavior Tree replans the global path periodically proprortional to speed.
|
|
||||||
-->
|
|
||||||
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<SpeedController min_rate="0.1" max_rate="1.0" min_speed="0.0" max_speed="0.26">
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</SpeedController>
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
</PipelineSequence>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,14 +0,0 @@
|
|||||||
<!--
|
|
||||||
This Behavior Tree replans the global path periodically at 1 Hz.
|
|
||||||
-->
|
|
||||||
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<PipelineSequence name="NavigateWithReplanning">
|
|
||||||
<RateController hz="1.0">
|
|
||||||
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
|
|
||||||
</RateController>
|
|
||||||
<FollowPath path="{path}" controller_id="FollowPath"/>
|
|
||||||
</PipelineSequence>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,20 +0,0 @@
|
|||||||
<!--
|
|
||||||
his Behavior Tree drives in a square for odometry calibration experiments
|
|
||||||
-->
|
|
||||||
|
|
||||||
<root main_tree_to_execute="MainTree">
|
|
||||||
<BehaviorTree ID="MainTree">
|
|
||||||
<Repeat num_cycles="3">
|
|
||||||
<Sequence name="Drive in a square">
|
|
||||||
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
|
|
||||||
<Spin spin_dist="1.570796" is_recovery="false"/>
|
|
||||||
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
|
|
||||||
<Spin spin_dist="1.570796" is_recovery="false"/>
|
|
||||||
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
|
|
||||||
<Spin spin_dist="1.570796" is_recovery="false"/>
|
|
||||||
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
|
|
||||||
<Spin spin_dist="1.570796" is_recovery="false"/>
|
|
||||||
</Sequence>
|
|
||||||
</Repeat>
|
|
||||||
</BehaviorTree>
|
|
||||||
</root>
|
|
||||||
@@ -1,348 +0,0 @@
|
|||||||
amcl:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
alpha1: 0.5
|
|
||||||
alpha2: 0.5
|
|
||||||
alpha3: 0.5
|
|
||||||
alpha4: 0.5
|
|
||||||
alpha5: 0.5
|
|
||||||
base_frame_id: "base_link"
|
|
||||||
beam_skip_distance: 0.5
|
|
||||||
beam_skip_error_threshold: 0.9
|
|
||||||
beam_skip_threshold: 0.3
|
|
||||||
do_beamskip: true
|
|
||||||
global_frame_id: "map"
|
|
||||||
lambda_short: 0.1
|
|
||||||
laser_likelihood_max_dist: 4.0
|
|
||||||
laser_max_range: 100.0
|
|
||||||
laser_min_range: -1.0
|
|
||||||
laser_model_type: "likelihood_field"
|
|
||||||
max_beams: 120
|
|
||||||
max_particles: 4000
|
|
||||||
min_particles: 1000
|
|
||||||
odom_frame_id: "odom"
|
|
||||||
pf_err: 0.01
|
|
||||||
pf_z: 0.99
|
|
||||||
recovery_alpha_fast: 0.0
|
|
||||||
recovery_alpha_slow: 0.0
|
|
||||||
resample_interval: 2
|
|
||||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
|
||||||
save_pose_rate: 0.5
|
|
||||||
sigma_hit: 0.2
|
|
||||||
tf_broadcast: true
|
|
||||||
transform_tolerance: 1.0
|
|
||||||
update_min_a: 0.2
|
|
||||||
update_min_d: 0.25
|
|
||||||
z_hit: 0.9
|
|
||||||
z_max: 0.05
|
|
||||||
z_rand: 0.1
|
|
||||||
z_short: 0.05
|
|
||||||
scan_topic: scan
|
|
||||||
|
|
||||||
bt_navigator:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
global_frame: map
|
|
||||||
robot_base_frame: base_link
|
|
||||||
odom_topic: /odom
|
|
||||||
bt_loop_duration: 10
|
|
||||||
default_server_timeout: 20
|
|
||||||
wait_for_service_timeout: 1000
|
|
||||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
|
||||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
|
||||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
|
||||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
|
||||||
plugin_lib_names:
|
|
||||||
- nav2_compute_path_to_pose_action_bt_node
|
|
||||||
- nav2_compute_path_through_poses_action_bt_node
|
|
||||||
- nav2_smooth_path_action_bt_node
|
|
||||||
- nav2_follow_path_action_bt_node
|
|
||||||
- nav2_spin_action_bt_node
|
|
||||||
- nav2_wait_action_bt_node
|
|
||||||
- nav2_assisted_teleop_action_bt_node
|
|
||||||
- nav2_back_up_action_bt_node
|
|
||||||
- nav2_drive_on_heading_bt_node
|
|
||||||
- nav2_clear_costmap_service_bt_node
|
|
||||||
- nav2_is_stuck_condition_bt_node
|
|
||||||
- nav2_goal_reached_condition_bt_node
|
|
||||||
- nav2_goal_updated_condition_bt_node
|
|
||||||
- nav2_globally_updated_goal_condition_bt_node
|
|
||||||
- nav2_is_path_valid_condition_bt_node
|
|
||||||
- nav2_initial_pose_received_condition_bt_node
|
|
||||||
- nav2_reinitialize_global_localization_service_bt_node
|
|
||||||
- nav2_rate_controller_bt_node
|
|
||||||
- nav2_distance_controller_bt_node
|
|
||||||
- nav2_speed_controller_bt_node
|
|
||||||
- nav2_truncate_path_action_bt_node
|
|
||||||
- nav2_truncate_path_local_action_bt_node
|
|
||||||
- nav2_goal_updater_node_bt_node
|
|
||||||
- nav2_recovery_node_bt_node
|
|
||||||
- nav2_pipeline_sequence_bt_node
|
|
||||||
- nav2_round_robin_node_bt_node
|
|
||||||
- nav2_transform_available_condition_bt_node
|
|
||||||
- nav2_time_expired_condition_bt_node
|
|
||||||
- nav2_path_expiring_timer_condition
|
|
||||||
- nav2_distance_traveled_condition_bt_node
|
|
||||||
- nav2_single_trigger_bt_node
|
|
||||||
- nav2_goal_updated_controller_bt_node
|
|
||||||
- nav2_is_battery_low_condition_bt_node
|
|
||||||
- nav2_navigate_through_poses_action_bt_node
|
|
||||||
- nav2_navigate_to_pose_action_bt_node
|
|
||||||
- nav2_remove_passed_goals_action_bt_node
|
|
||||||
- nav2_planner_selector_bt_node
|
|
||||||
- nav2_controller_selector_bt_node
|
|
||||||
- nav2_goal_checker_selector_bt_node
|
|
||||||
- nav2_controller_cancel_bt_node
|
|
||||||
- nav2_path_longer_on_approach_bt_node
|
|
||||||
- nav2_wait_cancel_bt_node
|
|
||||||
- nav2_spin_cancel_bt_node
|
|
||||||
- nav2_back_up_cancel_bt_node
|
|
||||||
- nav2_assisted_teleop_cancel_bt_node
|
|
||||||
- nav2_drive_on_heading_cancel_bt_node
|
|
||||||
- nav2_is_battery_charging_condition_bt_node
|
|
||||||
|
|
||||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
|
|
||||||
bt_navigator_navigate_to_pose_rclcpp_node:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
|
|
||||||
controller_server:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
controller_frequency: 20.0
|
|
||||||
min_x_velocity_threshold: 0.001
|
|
||||||
min_y_velocity_threshold: 0.5
|
|
||||||
min_theta_velocity_threshold: 0.001
|
|
||||||
failure_tolerance: 0.3
|
|
||||||
progress_checker_plugin: "progress_checker"
|
|
||||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
|
||||||
controller_plugins: ["FollowPath"]
|
|
||||||
|
|
||||||
# Progress checker parameters
|
|
||||||
progress_checker:
|
|
||||||
plugin: "nav2_controller::SimpleProgressChecker"
|
|
||||||
required_movement_radius: 0.5
|
|
||||||
movement_time_allowance: 10.0
|
|
||||||
# Goal checker parameters
|
|
||||||
#precise_goal_checker:
|
|
||||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
|
||||||
# xy_goal_tolerance: 0.25
|
|
||||||
# yaw_goal_tolerance: 0.25
|
|
||||||
# stateful: True
|
|
||||||
general_goal_checker:
|
|
||||||
stateful: True
|
|
||||||
plugin: "nav2_controller::SimpleGoalChecker"
|
|
||||||
xy_goal_tolerance: 0.25
|
|
||||||
yaw_goal_tolerance: 0.25
|
|
||||||
# DWB parameters
|
|
||||||
FollowPath:
|
|
||||||
plugin: "dwb_core::DWBLocalPlanner"
|
|
||||||
debug_trajectory_details: True
|
|
||||||
min_vel_x: 0.0
|
|
||||||
min_vel_y: 0.0
|
|
||||||
max_vel_x: 0.50
|
|
||||||
max_vel_y: 0.0
|
|
||||||
max_vel_theta: 3.0
|
|
||||||
min_speed_xy: 0.0
|
|
||||||
max_speed_xy: 0.50
|
|
||||||
min_speed_theta: 0.0
|
|
||||||
# Add high threshold velocity for turtlebot 3 issue.
|
|
||||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
|
||||||
acc_lim_x: 2.5
|
|
||||||
acc_lim_y: 0.0
|
|
||||||
acc_lim_theta: 3.2
|
|
||||||
decel_lim_x: -2.5
|
|
||||||
decel_lim_y: 0.0
|
|
||||||
decel_lim_theta: -3.2
|
|
||||||
vx_samples: 20
|
|
||||||
vy_samples: 5
|
|
||||||
vtheta_samples: 20
|
|
||||||
sim_time: 1.7
|
|
||||||
linear_granularity: 0.05
|
|
||||||
angular_granularity: 0.025
|
|
||||||
transform_tolerance: 0.2
|
|
||||||
xy_goal_tolerance: 0.25
|
|
||||||
trans_stopped_velocity: 0.25
|
|
||||||
short_circuit_trajectory_evaluation: True
|
|
||||||
stateful: True
|
|
||||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
|
||||||
BaseObstacle.scale: 0.02
|
|
||||||
PathAlign.scale: 32.0
|
|
||||||
PathAlign.forward_point_distance: 0.1
|
|
||||||
GoalAlign.scale: 24.0
|
|
||||||
GoalAlign.forward_point_distance: 0.1
|
|
||||||
PathDist.scale: 32.0
|
|
||||||
GoalDist.scale: 24.0
|
|
||||||
RotateToGoal.scale: 32.0
|
|
||||||
RotateToGoal.slowing_factor: 5.0
|
|
||||||
RotateToGoal.lookahead_time: -1.0
|
|
||||||
|
|
||||||
local_costmap:
|
|
||||||
local_costmap:
|
|
||||||
ros__parameters:
|
|
||||||
update_frequency: 5.0
|
|
||||||
publish_frequency: 2.0
|
|
||||||
global_frame: odom
|
|
||||||
robot_base_frame: base_link
|
|
||||||
use_sim_time: True
|
|
||||||
rolling_window: true
|
|
||||||
width: 3
|
|
||||||
height: 3
|
|
||||||
resolution: 0.05
|
|
||||||
robot_radius: 0.20
|
|
||||||
plugins: ["voxel_layer", "inflation_layer"]
|
|
||||||
inflation_layer:
|
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
|
||||||
cost_scaling_factor: 3.0
|
|
||||||
inflation_radius: 0.30
|
|
||||||
voxel_layer:
|
|
||||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
|
||||||
enabled: True
|
|
||||||
publish_voxel_map: True
|
|
||||||
origin_z: 0.0
|
|
||||||
z_resolution: 0.05
|
|
||||||
z_voxels: 16
|
|
||||||
max_obstacle_height: 2.0
|
|
||||||
mark_threshold: 0
|
|
||||||
observation_sources: scan
|
|
||||||
scan:
|
|
||||||
topic: /scan
|
|
||||||
max_obstacle_height: 2.0
|
|
||||||
clearing: True
|
|
||||||
marking: True
|
|
||||||
data_type: "LaserScan"
|
|
||||||
raytrace_max_range: 3.0
|
|
||||||
raytrace_min_range: 0.0
|
|
||||||
obstacle_max_range: 2.5
|
|
||||||
obstacle_min_range: 0.0
|
|
||||||
static_layer:
|
|
||||||
plugin: "nav2_costmap_2d::StaticLayer"
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
always_send_full_costmap: True
|
|
||||||
|
|
||||||
global_costmap:
|
|
||||||
global_costmap:
|
|
||||||
ros__parameters:
|
|
||||||
update_frequency: 1.0
|
|
||||||
publish_frequency: 1.0
|
|
||||||
global_frame: map
|
|
||||||
robot_base_frame: base_link
|
|
||||||
use_sim_time: True
|
|
||||||
robot_radius: 0.20
|
|
||||||
resolution: 0.05
|
|
||||||
track_unknown_space: true
|
|
||||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
|
||||||
obstacle_layer:
|
|
||||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
|
||||||
enabled: True
|
|
||||||
observation_sources: scan
|
|
||||||
scan:
|
|
||||||
topic: /scan
|
|
||||||
max_obstacle_height: 2.0
|
|
||||||
clearing: True
|
|
||||||
marking: True
|
|
||||||
data_type: "LaserScan"
|
|
||||||
raytrace_max_range: 3.0
|
|
||||||
raytrace_min_range: 0.0
|
|
||||||
obstacle_max_range: 2.5
|
|
||||||
obstacle_min_range: 0.0
|
|
||||||
static_layer:
|
|
||||||
plugin: "nav2_costmap_2d::StaticLayer"
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
inflation_layer:
|
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
|
||||||
cost_scaling_factor: 3.0
|
|
||||||
inflation_radius: 0.30
|
|
||||||
always_send_full_costmap: True
|
|
||||||
|
|
||||||
map_server:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
# Overridden in launch by the "map" launch configuration or provided default value.
|
|
||||||
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
|
||||||
yaml_filename: ""
|
|
||||||
|
|
||||||
map_saver:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
save_map_timeout: 5.0
|
|
||||||
free_thresh_default: 0.25
|
|
||||||
occupied_thresh_default: 0.65
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
|
|
||||||
planner_server:
|
|
||||||
ros__parameters:
|
|
||||||
expected_planner_frequency: 20.0
|
|
||||||
use_sim_time: True
|
|
||||||
planner_plugins: ["GridBased"]
|
|
||||||
GridBased:
|
|
||||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
|
||||||
tolerance: 0.5
|
|
||||||
use_astar: false
|
|
||||||
allow_unknown: true
|
|
||||||
|
|
||||||
smoother_server:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
smoother_plugins: ["simple_smoother"]
|
|
||||||
simple_smoother:
|
|
||||||
plugin: "nav2_smoother::SimpleSmoother"
|
|
||||||
tolerance: 1.0e-10
|
|
||||||
max_its: 1000
|
|
||||||
do_refinement: True
|
|
||||||
|
|
||||||
behavior_server:
|
|
||||||
ros__parameters:
|
|
||||||
costmap_topic: local_costmap/costmap_raw
|
|
||||||
footprint_topic: local_costmap/published_footprint
|
|
||||||
cycle_frequency: 10.0
|
|
||||||
behavior_plugins: ["backup", "drive_on_heading", "assisted_teleop", "wait"]
|
|
||||||
backup:
|
|
||||||
plugin: "nav2_behaviors/BackUp"
|
|
||||||
drive_on_heading:
|
|
||||||
plugin: "nav2_behaviors/DriveOnHeading"
|
|
||||||
wait:
|
|
||||||
plugin: "nav2_behaviors/Wait"
|
|
||||||
assisted_teleop:
|
|
||||||
plugin: "nav2_behaviors/AssistedTeleop"
|
|
||||||
global_frame: odom
|
|
||||||
robot_base_frame: base_link
|
|
||||||
transform_tolerance: 0.3
|
|
||||||
use_sim_time: true
|
|
||||||
simulate_ahead_time: 2.0
|
|
||||||
max_rotational_vel: 1.0
|
|
||||||
min_rotational_vel: 0.4
|
|
||||||
rotational_acc_lim: 3.2
|
|
||||||
|
|
||||||
robot_state_publisher:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
|
|
||||||
waypoint_follower:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
loop_rate: 20
|
|
||||||
stop_on_failure: false
|
|
||||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
|
||||||
wait_at_waypoint:
|
|
||||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
|
||||||
enabled: True
|
|
||||||
waypoint_pause_duration: 200
|
|
||||||
|
|
||||||
velocity_smoother:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
smoothing_frequency: 20.0
|
|
||||||
scale_velocities: False
|
|
||||||
feedback: "OPEN_LOOP"
|
|
||||||
max_velocity: [0.26, 0.0, 1.0]
|
|
||||||
min_velocity: [-0.26, 0.0, -1.0]
|
|
||||||
max_accel: [2.5, 0.0, 3.2]
|
|
||||||
max_decel: [-2.5, 0.0, -3.2]
|
|
||||||
odom_topic: "odom"
|
|
||||||
odom_duration: 0.1
|
|
||||||
deadband_velocity: [0.0, 0.0, 0.0]
|
|
||||||
velocity_timeout: 1.0
|
|
||||||
@@ -1,108 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
小车导航系统启动文件
|
|
||||||
启动所有必要的硬件和导航节点
|
|
||||||
"""
|
|
||||||
|
|
||||||
import os
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction, LogInfo
|
|
||||||
from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
|
|
||||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
from launch_ros.substitutions import FindPackageShare
|
|
||||||
from launch.conditions import IfCondition, UnlessCondition
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
# 获取包路径
|
|
||||||
cyy_navigation2_dir = get_package_share_directory('cyy_navigation2')
|
|
||||||
|
|
||||||
# 声明启动参数
|
|
||||||
use_base = LaunchConfiguration('use_base', default='true')
|
|
||||||
use_lidar = LaunchConfiguration('use_lidar', default='true')
|
|
||||||
use_description = LaunchConfiguration('use_description', default='true')
|
|
||||||
use_bridge = LaunchConfiguration('use_bridge', default='true')
|
|
||||||
|
|
||||||
# 启动参数列表
|
|
||||||
launch_arguments = [
|
|
||||||
DeclareLaunchArgument(
|
|
||||||
'use_base',
|
|
||||||
default_value='true',
|
|
||||||
description='启动底盘控制'
|
|
||||||
),
|
|
||||||
DeclareLaunchArgument(
|
|
||||||
'use_lidar',
|
|
||||||
default_value='true',
|
|
||||||
description='启动激光雷达'
|
|
||||||
),
|
|
||||||
DeclareLaunchArgument(
|
|
||||||
'use_description',
|
|
||||||
default_value='true',
|
|
||||||
description='启动URDF显示'
|
|
||||||
),
|
|
||||||
DeclareLaunchArgument(
|
|
||||||
'use_bridge',
|
|
||||||
default_value='true',
|
|
||||||
description='启动ROS Bridge'
|
|
||||||
),
|
|
||||||
]
|
|
||||||
|
|
||||||
# 创建启动描述
|
|
||||||
ld = LaunchDescription(launch_arguments)
|
|
||||||
|
|
||||||
# 1. 启动底盘控制
|
|
||||||
base_launch = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource([
|
|
||||||
FindPackageShare('origincar_base'), '/launch/base_serial.launch.py'
|
|
||||||
]),
|
|
||||||
condition=IfCondition(use_base)
|
|
||||||
)
|
|
||||||
|
|
||||||
# 添加延迟，确保底盘先启动
|
|
||||||
ld.add_action(TimerAction(
|
|
||||||
period=1.0,
|
|
||||||
actions=[LogInfo(msg='启动底盘控制...'), base_launch]
|
|
||||||
))
|
|
||||||
|
|
||||||
# 2. 启动激光雷达
|
|
||||||
lidar_launch = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource([
|
|
||||||
FindPackageShare('lslidar_driver'), '/launch/lsn10_launch.py'
|
|
||||||
]),
|
|
||||||
condition=IfCondition(use_lidar)
|
|
||||||
)
|
|
||||||
|
|
||||||
ld.add_action(TimerAction(
|
|
||||||
period=2.0,
|
|
||||||
actions=[LogInfo(msg='启动激光雷达...'), lidar_launch]
|
|
||||||
))
|
|
||||||
|
|
||||||
# 3. 启动URDF显示
|
|
||||||
description_launch = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource([
|
|
||||||
FindPackageShare('origincar_description'), '/launch/display.launch.py'
|
|
||||||
]),
|
|
||||||
condition=IfCondition(use_description)
|
|
||||||
)
|
|
||||||
|
|
||||||
ld.add_action(TimerAction(
|
|
||||||
period=3.0,
|
|
||||||
actions=[LogInfo(msg='启动URDF显示...'), description_launch]
|
|
||||||
))
|
|
||||||
|
|
||||||
# 4. 启动ROS Bridge
|
|
||||||
bridge_launch = IncludeLaunchDescription(
|
|
||||||
FrontendLaunchDescriptionSource([
|
|
||||||
FindPackageShare('rosbridge_server'), '/launch/rosbridge_websocket_launch.xml'
|
|
||||||
]),
|
|
||||||
condition=IfCondition(use_bridge)
|
|
||||||
)
|
|
||||||
|
|
||||||
ld.add_action(TimerAction(
|
|
||||||
period=4.0,
|
|
||||||
actions=[LogInfo(msg='启动ROS Bridge...'), bridge_launch]
|
|
||||||
))
|
|
||||||
|
|
||||||
|
|
||||||
return ld
|
|
||||||
@@ -1,41 +0,0 @@
|
|||||||
import os
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch.actions import IncludeLaunchDescription
|
|
||||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
# =============================1.定位到包的地址=============================================================
|
|
||||||
cyy_navigation2_dir = get_package_share_directory('cyy_navigation2')
|
|
||||||
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
|
|
||||||
slam = LaunchConfiguration('slam', default='True')
|
|
||||||
# =============================2.声明参数，获取配置文件路径===================================================
|
|
||||||
# use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
|
|
||||||
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
|
|
||||||
map_yaml_path = LaunchConfiguration('map',
|
|
||||||
default=os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map1.yaml'))
|
|
||||||
nav2_param_path = LaunchConfiguration('params_file',
|
|
||||||
default=os.path.join(cyy_navigation2_dir, 'param', 'nav2_params.yaml'))
|
|
||||||
rviz_config_dir = os.path.join(nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')
|
|
||||||
|
|
||||||
# =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
|
|
||||||
nav2_bringup_launch = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource([nav2_bringup_dir, '/launch', '/bringup_launch.py']),
|
|
||||||
launch_arguments={
|
|
||||||
'map': map_yaml_path,
|
|
||||||
'use_sim_time': use_sim_time,
|
|
||||||
'params_file': nav2_param_path,
|
|
||||||
'slam': slam}.items(),
|
|
||||||
)
|
|
||||||
rviz_node = Node(
|
|
||||||
package='rviz2',
|
|
||||||
executable='rviz2',
|
|
||||||
name='rviz2',
|
|
||||||
arguments=['-d', rviz_config_dir],
|
|
||||||
parameters=[{'use_sim_time': use_sim_time}],
|
|
||||||
output='screen')
|
|
||||||
|
|
||||||
return LaunchDescription([nav2_bringup_launch])
|
|
||||||
@@ -1,86 +0,0 @@
|
|||||||
import os
|
|
||||||
from ament_index_python.packages import get_package_share_directory
|
|
||||||
from launch import LaunchDescription
|
|
||||||
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
|
|
||||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
||||||
from launch.substitutions import LaunchConfiguration
|
|
||||||
from launch_ros.actions import Node
|
|
||||||
|
|
||||||
def generate_launch_description():
|
|
||||||
# 获取包路径
|
|
||||||
cyy_navigation2_dir = get_package_share_directory('cyy_navigation2')
|
|
||||||
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
|
|
||||||
|
|
||||||
# 声明参数
|
|
||||||
use_sim_time = LaunchConfiguration('use_sim_time', default='False')
|
|
||||||
slam = LaunchConfiguration('slam', default='False')
|
|
||||||
localization = LaunchConfiguration('localization', default='False')
|
|
||||||
|
|
||||||
# 定义文件路径
|
|
||||||
map_yaml_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map.yaml')
|
|
||||||
nav2_param_path = os.path.join(cyy_navigation2_dir, 'param', 'nav2_params.yaml')
|
|
||||||
slam_params_file = os.path.join(cyy_navigation2_dir, 'param', 'slam_toolbox_localization.yaml')
|
|
||||||
|
|
||||||
# 定义地图基础路径（用于 .posegraph 文件）
|
|
||||||
map_base_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map')
|
|
||||||
|
|
||||||
# 检查 .posegraph 文件是否存在
|
|
||||||
posegraph_path = map_base_path + '.posegraph'
|
|
||||||
if not os.path.exists(posegraph_path):
|
|
||||||
print(f"警告: .posegraph 文件不存在: {posegraph_path}")
|
|
||||||
print("将使用 AMCL 替代")
|
|
||||||
use_slam_toolbox = False
|
|
||||||
else:
|
|
||||||
use_slam_toolbox = True
|
|
||||||
print(f"找到 .posegraph 文件: {posegraph_path}")
|
|
||||||
|
|
||||||
# 创建启动描述
|
|
||||||
ld = LaunchDescription([
|
|
||||||
DeclareLaunchArgument('use_sim_time', default_value='False'),
|
|
||||||
DeclareLaunchArgument('slam', default_value='False'),
|
|
||||||
DeclareLaunchArgument('localization', default_value='False'),
|
|
||||||
])
|
|
||||||
|
|
||||||
# 如果使用 slam_toolbox
|
|
||||||
if use_slam_toolbox:
|
|
||||||
slam_toolbox_node = Node(
|
|
||||||
package='slam_toolbox',
|
|
||||||
executable='localization_slam_toolbox_node',
|
|
||||||
name='slam_toolbox',
|
|
||||||
output='screen',
|
|
||||||
parameters=[
|
|
||||||
slam_params_file,
|
|
||||||
{'use_sim_time': use_sim_time},
|
|
||||||
{'map_file_name': map_base_path},
|
|
||||||
{'map_start_pose': [0.0, 0.0, 0.0]}
|
|
||||||
],
|
|
||||||
remappings=[('/scan', '/scan')]
|
|
||||||
)
|
|
||||||
ld.add_action(slam_toolbox_node)
|
|
||||||
# 使用 slam_toolbox 时，Nav2 不启用定位
|
|
||||||
localization_arg = 'False'
|
|
||||||
else:
|
|
||||||
# 使用 AMCL
|
|
||||||
localization_arg = 'True'
|
|
||||||
|
|
||||||
# Nav2 启动 - 使用正确的路径
|
|
||||||
nav2_launch_path = os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')
|
|
||||||
if not os.path.exists(nav2_launch_path):
|
|
||||||
print(f"错误: 找不到 Nav2 启动文件: {nav2_launch_path}")
|
|
||||||
return ld
|
|
||||||
|
|
||||||
nav2_bringup_launch = IncludeLaunchDescription(
|
|
||||||
PythonLaunchDescriptionSource(nav2_launch_path),
|
|
||||||
launch_arguments={
|
|
||||||
'map': map_yaml_path,
|
|
||||||
'use_sim_time': use_sim_time,
|
|
||||||
'params_file': nav2_param_path,
|
|
||||||
'slam': slam,
|
|
||||||
'localization': localization_arg,
|
|
||||||
'autostart': 'True',
|
|
||||||
}.items(),
|
|
||||||
)
|
|
||||||
|
|
||||||
ld.add_action(nav2_bringup_launch)
|
|
||||||
|
|
||||||
return ld
|
|
||||||
Binary file not shown.
Binary file not shown.
@@ -1,7 +0,0 @@
|
|||||||
image: cyy_map.pgm
|
|
||||||
mode: trinary
|
|
||||||
resolution: 0.01
|
|
||||||
origin: [-2.27, -1.63, 0]
|
|
||||||
negate: 0
|
|
||||||
occupied_thresh: 0.65
|
|
||||||
free_thresh: 0.25
|
|
||||||
Binary file not shown.
@@ -1,7 +0,0 @@
|
|||||||
image: cyy_map1.pgm
|
|
||||||
mode: trinary
|
|
||||||
resolution: 0.01
|
|
||||||
origin: [-3.49, -3.24, 0]
|
|
||||||
negate: 0
|
|
||||||
occupied_thresh: 0.65
|
|
||||||
free_thresh: 0.25
|
|
||||||
@@ -1,20 +0,0 @@
|
|||||||
<?xml version="1.0"?>
|
|
||||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
|
||||||
<package format="3">
|
|
||||||
<name>cyy_navigation2</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>TODO: Package description</description>
|
|
||||||
<maintainer email="root@todo.todo">root</maintainer>
|
|
||||||
<license>TODO: License declaration</license>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<depend>nav2_bringup</depend>
|
|
||||||
|
|
||||||
<test_depend>ament_lint_auto</test_depend>
|
|
||||||
<test_depend>ament_lint_common</test_depend>
|
|
||||||
|
|
||||||
<export>
|
|
||||||
<build_type>ament_cmake</build_type>
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
@@ -1,353 +0,0 @@
|
|||||||
amcl:
|
|
||||||
ros__parameters:
|
|
||||||
enabled: False
|
|
||||||
use_sim_time: True
|
|
||||||
alpha1: 0.2
|
|
||||||
alpha2: 0.2
|
|
||||||
alpha3: 0.2
|
|
||||||
alpha4: 0.2
|
|
||||||
alpha5: 0.2
|
|
||||||
base_frame_id: "base_link"
|
|
||||||
beam_skip_distance: 0.5
|
|
||||||
beam_skip_error_threshold: 0.9
|
|
||||||
beam_skip_threshold: 0.3
|
|
||||||
do_beamskip: false
|
|
||||||
global_frame_id: "map"
|
|
||||||
lambda_short: 0.1
|
|
||||||
laser_likelihood_max_dist: 2.0
|
|
||||||
laser_max_range: 100.0
|
|
||||||
laser_min_range: -1.0
|
|
||||||
laser_model_type: "likelihood_field"
|
|
||||||
max_beams: 60
|
|
||||||
max_particles: 2000
|
|
||||||
min_particles: 500
|
|
||||||
odom_frame_id: "odom"
|
|
||||||
pf_err: 0.05
|
|
||||||
pf_z: 0.99
|
|
||||||
recovery_alpha_fast: 0.0
|
|
||||||
recovery_alpha_slow: 0.0
|
|
||||||
resample_interval: 1
|
|
||||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
|
||||||
save_pose_rate: 0.5
|
|
||||||
sigma_hit: 0.2
|
|
||||||
tf_broadcast: true
|
|
||||||
transform_tolerance: 1.0
|
|
||||||
update_min_a: 0.2
|
|
||||||
update_min_d: 0.25
|
|
||||||
z_hit: 0.5
|
|
||||||
z_max: 0.05
|
|
||||||
z_rand: 0.5
|
|
||||||
z_short: 0.05
|
|
||||||
scan_topic: scan
|
|
||||||
|
|
||||||
bt_navigator:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
global_frame: map
|
|
||||||
robot_base_frame: base_link
|
|
||||||
odom_topic: /odom
|
|
||||||
bt_loop_duration: 10
|
|
||||||
default_server_timeout: 20
|
|
||||||
wait_for_service_timeout: 1000
|
|
||||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
|
||||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
|
||||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
|
||||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
|
||||||
plugin_lib_names:
|
|
||||||
- nav2_compute_path_to_pose_action_bt_node
|
|
||||||
- nav2_compute_path_through_poses_action_bt_node
|
|
||||||
- nav2_smooth_path_action_bt_node
|
|
||||||
- nav2_follow_path_action_bt_node
|
|
||||||
- nav2_spin_action_bt_node
|
|
||||||
- nav2_wait_action_bt_node
|
|
||||||
- nav2_assisted_teleop_action_bt_node
|
|
||||||
- nav2_back_up_action_bt_node
|
|
||||||
- nav2_drive_on_heading_bt_node
|
|
||||||
- nav2_clear_costmap_service_bt_node
|
|
||||||
- nav2_is_stuck_condition_bt_node
|
|
||||||
- nav2_goal_reached_condition_bt_node
|
|
||||||
- nav2_goal_updated_condition_bt_node
|
|
||||||
- nav2_globally_updated_goal_condition_bt_node
|
|
||||||
- nav2_is_path_valid_condition_bt_node
|
|
||||||
- nav2_initial_pose_received_condition_bt_node
|
|
||||||
- nav2_reinitialize_global_localization_service_bt_node
|
|
||||||
- nav2_rate_controller_bt_node
|
|
||||||
- nav2_distance_controller_bt_node
|
|
||||||
- nav2_speed_controller_bt_node
|
|
||||||
- nav2_truncate_path_action_bt_node
|
|
||||||
- nav2_truncate_path_local_action_bt_node
|
|
||||||
- nav2_goal_updater_node_bt_node
|
|
||||||
- nav2_recovery_node_bt_node
|
|
||||||
- nav2_pipeline_sequence_bt_node
|
|
||||||
- nav2_round_robin_node_bt_node
|
|
||||||
- nav2_transform_available_condition_bt_node
|
|
||||||
- nav2_time_expired_condition_bt_node
|
|
||||||
- nav2_path_expiring_timer_condition
|
|
||||||
- nav2_distance_traveled_condition_bt_node
|
|
||||||
- nav2_single_trigger_bt_node
|
|
||||||
- nav2_goal_updated_controller_bt_node
|
|
||||||
- nav2_is_battery_low_condition_bt_node
|
|
||||||
- nav2_navigate_through_poses_action_bt_node
|
|
||||||
- nav2_navigate_to_pose_action_bt_node
|
|
||||||
- nav2_remove_passed_goals_action_bt_node
|
|
||||||
- nav2_planner_selector_bt_node
|
|
||||||
- nav2_controller_selector_bt_node
|
|
||||||
- nav2_goal_checker_selector_bt_node
|
|
||||||
- nav2_controller_cancel_bt_node
|
|
||||||
- nav2_path_longer_on_approach_bt_node
|
|
||||||
- nav2_wait_cancel_bt_node
|
|
||||||
- nav2_spin_cancel_bt_node
|
|
||||||
- nav2_back_up_cancel_bt_node
|
|
||||||
- nav2_assisted_teleop_cancel_bt_node
|
|
||||||
- nav2_drive_on_heading_cancel_bt_node
|
|
||||||
- nav2_is_battery_charging_condition_bt_node
|
|
||||||
|
|
||||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
|
|
||||||
bt_navigator_navigate_to_pose_rclcpp_node:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
|
|
||||||
controller_server:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
controller_frequency: 20.0
|
|
||||||
min_x_velocity_threshold: 0.001
|
|
||||||
min_y_velocity_threshold: 0.5
|
|
||||||
min_theta_velocity_threshold: 0.001
|
|
||||||
failure_tolerance: 0.3
|
|
||||||
progress_checker_plugin: "progress_checker"
|
|
||||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
|
||||||
controller_plugins: ["FollowPath"]
|
|
||||||
|
|
||||||
# Progress checker parameters
|
|
||||||
progress_checker:
|
|
||||||
plugin: "nav2_controller::SimpleProgressChecker"
|
|
||||||
required_movement_radius: 0.5
|
|
||||||
movement_time_allowance: 10.0
|
|
||||||
# Goal checker parameters
|
|
||||||
#precise_goal_checker:
|
|
||||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
|
||||||
# xy_goal_tolerance: 0.25
|
|
||||||
# yaw_goal_tolerance: 0.25
|
|
||||||
# stateful: True
|
|
||||||
general_goal_checker:
|
|
||||||
stateful: True
|
|
||||||
plugin: "nav2_controller::SimpleGoalChecker"
|
|
||||||
xy_goal_tolerance: 0.25
|
|
||||||
yaw_goal_tolerance: 6.28
|
|
||||||
# DWB parameters
|
|
||||||
FollowPath:
|
|
||||||
plugin: "dwb_core::DWBLocalPlanner"
|
|
||||||
debug_trajectory_details: True
|
|
||||||
min_vel_x: -0.50
|
|
||||||
min_vel_y: 0.0
|
|
||||||
max_vel_x: 0.50
|
|
||||||
max_vel_y: 0.0
|
|
||||||
max_vel_theta: 1.0
|
|
||||||
min_speed_xy: 0.0
|
|
||||||
max_speed_xy: 0.50
|
|
||||||
min_speed_theta: 0.0
|
|
||||||
# Add high threshold velocity for turtlebot 3 issue.
|
|
||||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
|
||||||
acc_lim_x: 2.5
|
|
||||||
acc_lim_y: 0.0
|
|
||||||
acc_lim_theta: 3.2
|
|
||||||
decel_lim_x: -2.5
|
|
||||||
decel_lim_y: 0.0
|
|
||||||
decel_lim_theta: -3.2
|
|
||||||
vx_samples: 20
|
|
||||||
vy_samples: 0
|
|
||||||
vtheta_samples: 20
|
|
||||||
sim_time: 1.7
|
|
||||||
linear_granularity: 0.05
|
|
||||||
angular_granularity: 0.025
|
|
||||||
transform_tolerance: 0.2
|
|
||||||
xy_goal_tolerance: 0.25
|
|
||||||
trans_stopped_velocity: 0.25
|
|
||||||
short_circuit_trajectory_evaluation: True
|
|
||||||
stateful: True
|
|
||||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
|
||||||
BaseObstacle.scale: 0.01
|
|
||||||
PathAlign.scale: 32.0
|
|
||||||
PathAlign.forward_point_distance: 0.1
|
|
||||||
GoalAlign.scale: 24.0
|
|
||||||
GoalAlign.forward_point_distance: 0.1
|
|
||||||
PathDist.scale: 32.0
|
|
||||||
GoalDist.scale: 24.0
|
|
||||||
RotateToGoal.scale: 32.0
|
|
||||||
RotateToGoal.slowing_factor: 5.0
|
|
||||||
RotateToGoal.lookahead_time: -1.0
|
|
||||||
|
|
||||||
local_costmap:
|
|
||||||
local_costmap:
|
|
||||||
ros__parameters:
|
|
||||||
update_frequency: 5.0
|
|
||||||
publish_frequency: 2.0
|
|
||||||
global_frame: odom
|
|
||||||
robot_base_frame: base_link
|
|
||||||
use_sim_time: True
|
|
||||||
rolling_window: true
|
|
||||||
width: 3
|
|
||||||
height: 3
|
|
||||||
resolution: 0.05
|
|
||||||
footprint: "[[0.2, 0.15], [0.2, -0.15], [-0.2, -0.15], [-0.2, 0.15]]"
|
|
||||||
robot_radius: 0.00
|
|
||||||
plugins: ["voxel_layer", "inflation_layer"]
|
|
||||||
inflation_layer:
|
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
|
||||||
cost_scaling_factor: 3.0
|
|
||||||
inflation_radius: 0.10
|
|
||||||
voxel_layer:
|
|
||||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
|
||||||
enabled: True
|
|
||||||
publish_voxel_map: True
|
|
||||||
origin_z: 0.0
|
|
||||||
z_resolution: 0.05
|
|
||||||
z_voxels: 16
|
|
||||||
max_obstacle_height: 2.0
|
|
||||||
mark_threshold: 0
|
|
||||||
observation_sources: scan
|
|
||||||
scan:
|
|
||||||
topic: /scan
|
|
||||||
max_obstacle_height: 2.0
|
|
||||||
clearing: True
|
|
||||||
marking: True
|
|
||||||
data_type: "LaserScan"
|
|
||||||
raytrace_max_range: 3.0
|
|
||||||
raytrace_min_range: 0.0
|
|
||||||
obstacle_max_range: 2.5
|
|
||||||
obstacle_min_range: 0.0
|
|
||||||
static_layer:
|
|
||||||
plugin: "nav2_costmap_2d::StaticLayer"
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
always_send_full_costmap: True
|
|
||||||
|
|
||||||
global_costmap:
|
|
||||||
global_costmap:
|
|
||||||
ros__parameters:
|
|
||||||
update_frequency: 1.0
|
|
||||||
publish_frequency: 1.0
|
|
||||||
global_frame: map
|
|
||||||
robot_base_frame: base_link
|
|
||||||
use_sim_time: True
|
|
||||||
footprint: "[[0.2, 0.15], [0.2, -0.15], [-0.2, -0.15], [-0.2, 0.15]]"
|
|
||||||
robot_radius: 0.0
|
|
||||||
resolution: 0.05
|
|
||||||
track_unknown_space: true
|
|
||||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
|
||||||
obstacle_layer:
|
|
||||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
|
||||||
enabled: True
|
|
||||||
observation_sources: scan
|
|
||||||
scan:
|
|
||||||
topic: /scan
|
|
||||||
max_obstacle_height: 2.0
|
|
||||||
clearing: True
|
|
||||||
marking: True
|
|
||||||
data_type: "LaserScan"
|
|
||||||
raytrace_max_range: 3.0
|
|
||||||
raytrace_min_range: 0.0
|
|
||||||
obstacle_max_range: 2.5
|
|
||||||
obstacle_min_range: 0.0
|
|
||||||
static_layer:
|
|
||||||
plugin: "nav2_costmap_2d::StaticLayer"
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
inflation_layer:
|
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
|
||||||
cost_scaling_factor: 3.0
|
|
||||||
inflation_radius: 0.30
|
|
||||||
always_send_full_costmap: True
|
|
||||||
|
|
||||||
map_server:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
# Overridden in launch by the "map" launch configuration or provided default value.
|
|
||||||
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
|
||||||
yaml_filename: ""
|
|
||||||
|
|
||||||
map_saver:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
save_map_timeout: 5.0
|
|
||||||
free_thresh_default: 0.25
|
|
||||||
occupied_thresh_default: 0.65
|
|
||||||
map_subscribe_transient_local: True
|
|
||||||
|
|
||||||
planner_server:
|
|
||||||
ros__parameters:
|
|
||||||
expected_planner_frequency: 20.0
|
|
||||||
use_sim_time: True
|
|
||||||
planner_plugins: ["GridBased"]
|
|
||||||
GridBased:
|
|
||||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
|
||||||
tolerance: 0.5
|
|
||||||
use_astar: false
|
|
||||||
allow_unknown: true
|
|
||||||
|
|
||||||
smoother_server:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
smoother_plugins: ["simple_smoother"]
|
|
||||||
simple_smoother:
|
|
||||||
plugin: "nav2_smoother::SimpleSmoother"
|
|
||||||
tolerance: 1.0e-10
|
|
||||||
max_its: 1000
|
|
||||||
do_refinement: True
|
|
||||||
|
|
||||||
behavior_server:
|
|
||||||
ros__parameters:
|
|
||||||
costmap_topic: local_costmap/costmap_raw
|
|
||||||
footprint_topic: local_costmap/published_footprint
|
|
||||||
cycle_frequency: 10.0
|
|
||||||
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
|
|
||||||
spin:
|
|
||||||
plugin: "nav2_behaviors/Spin"
|
|
||||||
backup:
|
|
||||||
plugin: "nav2_behaviors/BackUp"
|
|
||||||
drive_on_heading:
|
|
||||||
plugin: "nav2_behaviors/DriveOnHeading"
|
|
||||||
wait:
|
|
||||||
plugin: "nav2_behaviors/Wait"
|
|
||||||
assisted_teleop:
|
|
||||||
plugin: "nav2_behaviors/AssistedTeleop"
|
|
||||||
global_frame: odom
|
|
||||||
robot_base_frame: base_link
|
|
||||||
transform_tolerance: 0.3
|
|
||||||
use_sim_time: true
|
|
||||||
simulate_ahead_time: 2.0
|
|
||||||
max_rotational_vel: 1.0
|
|
||||||
min_rotational_vel: 0.4
|
|
||||||
rotational_acc_lim: 3.2
|
|
||||||
|
|
||||||
robot_state_publisher:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
|
|
||||||
waypoint_follower:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
loop_rate: 20
|
|
||||||
stop_on_failure: false
|
|
||||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
|
||||||
wait_at_waypoint:
|
|
||||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
|
||||||
enabled: True
|
|
||||||
waypoint_pause_duration: 200
|
|
||||||
|
|
||||||
velocity_smoother:
|
|
||||||
ros__parameters:
|
|
||||||
use_sim_time: True
|
|
||||||
smoothing_frequency: 20.0
|
|
||||||
scale_velocities: False
|
|
||||||
feedback: "OPEN_LOOP"
|
|
||||||
max_velocity: [0.26, 0.0, 1.0]
|
|
||||||
min_velocity: [-0.26, 0.0, -1.0]
|
|
||||||
max_accel: [2.5, 0.0, 3.2]
|
|
||||||
max_decel: [-2.5, 0.0, -3.2]
|
|
||||||
odom_topic: "odom"
|
|
||||||
odom_duration: 0.1
|
|
||||||
deadband_velocity: [0.0, 0.0, 0.0]
|
|
||||||
velocity_timeout: 1.0
|
|
||||||
@@ -1,54 +0,0 @@
|
|||||||
slam_toolbox:
|
|
||||||
ros__parameters:
|
|
||||||
# 核心模式设置
|
|
||||||
mode: "localization" # 重要：设置为定位模式
|
|
||||||
map_file_name: "" # 由启动参数传入
|
|
||||||
map_start_pose: [0.0, 0.0, 0.0]
|
|
||||||
# ROS框架设置
|
|
||||||
odom_frame: "odom"
|
|
||||||
map_frame: "map"
|
|
||||||
base_frame: "base_link"
|
|
||||||
scan_topic: "/scan"
|
|
||||||
|
|
||||||
# 求解器设置
|
|
||||||
solver_plugin: "solver_plugins::CeresSolver"
|
|
||||||
ceres_linear_solver: "SPARSE_NORMAL_CHOLESKY"
|
|
||||||
ceres_preconditioner: "SCHUR_JACOBI"
|
|
||||||
ceres_trust_strategy: "LEVENBERG_MARQUARDT"
|
|
||||||
ceres_dogleg_type: "TRADITIONAL_DOGLEG"
|
|
||||||
ceres_loss_function: "None"
|
|
||||||
|
|
||||||
# 定位优化参数
|
|
||||||
use_scan_matching: true
|
|
||||||
use_scan_barycenter: true
|
|
||||||
minimum_travel_distance: 0.05
|
|
||||||
minimum_travel_heading: 0.087
|
|
||||||
|
|
||||||
# 扫描处理
|
|
||||||
scan_buffer_size: 20
|
|
||||||
throttle_scans: 1
|
|
||||||
|
|
||||||
# 回环检测（定位模式可关闭）
|
|
||||||
do_loop_closing: false
|
|
||||||
|
|
||||||
# 搜索参数
|
|
||||||
link_match_minimum_response_fine: 0.2
|
|
||||||
link_scan_maximum_distance: 2.0
|
|
||||||
loop_search_maximum_distance: 5.0
|
|
||||||
|
|
||||||
# 性能参数
|
|
||||||
minimum_time_interval: 0.1
|
|
||||||
transform_publish_period: 0.02
|
|
||||||
map_update_interval: 0.5
|
|
||||||
|
|
||||||
# 地图参数
|
|
||||||
resolution: 0.05
|
|
||||||
max_laser_range: 15.0
|
|
||||||
min_laser_range: 0.2
|
|
||||||
|
|
||||||
# 初始位姿（可选，可以通过RViz设置）
|
|
||||||
# map_start_pose: [0.0, 0.0, 0.0]
|
|
||||||
|
|
||||||
# 调试
|
|
||||||
debug_logging: false
|
|
||||||
enable_interactive_mode: true
|
|
||||||
@@ -1,61 +0,0 @@
|
|||||||
# 设置CMake最低版本要求
|
|
||||||
cmake_minimum_required(VERSION 3.8)
|
|
||||||
# 定义项目名称（应与package.xml中的<name>一致）
|
|
||||||
project(cyy_slamtoolbox)
|
|
||||||
|
|
||||||
# 如果未设置，默认使用C++17标准
|
|
||||||
if(NOT CMAKE_CXX_STANDARD)
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# 查找编译依赖
|
|
||||||
find_package(ament_cmake REQUIRED)
|
|
||||||
# 查找slam_toolbox包
|
|
||||||
find_package(slam_toolbox REQUIRED)
|
|
||||||
# 查找其他可能的依赖，如传感器消息、几何库等
|
|
||||||
find_package(rclcpp REQUIRED)
|
|
||||||
find_package(std_msgs REQUIRED)
|
|
||||||
find_package(sensor_msgs REQUIRED)
|
|
||||||
find_package(nav_msgs REQUIRED)
|
|
||||||
find_package(tf2 REQUIRED)
|
|
||||||
find_package(tf2_ros REQUIRED)
|
|
||||||
find_package(geometry_msgs REQUIRED)
|
|
||||||
|
|
||||||
# 消息输出，用于调试
|
|
||||||
message(STATUS "开始配置项目: ${PROJECT_NAME}")
|
|
||||||
|
|
||||||
# 包含头文件目录
|
|
||||||
include_directories(
|
|
||||||
include
|
|
||||||
${ament_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
|
|
||||||
# 如果有自定义的C++节点源文件，在此添加可执行文件
|
|
||||||
# 例如，如果您有自定义的SLAM处理节点：
|
|
||||||
# add_executable(origincar_slam_node src/origincar_slam_node.cpp)
|
|
||||||
# ament_target_dependencies(origincar_slam_node
|
|
||||||
# rclcpp std_msgs sensor_msgs nav_msgs tf2 tf2_ros geometry_msgs slam_toolbox)
|
|
||||||
#
|
|
||||||
# 安装目标（将可执行文件安装到lib/<package_name>）
|
|
||||||
# install(TARGETS origincar_slam_node
|
|
||||||
# DESTINATION lib/${PROJECT_NAME})
|
|
||||||
|
|
||||||
# 安装launch文件到share/<package_name>/launch目录
|
|
||||||
install(DIRECTORY launch
|
|
||||||
DESTINATION share/${PROJECT_NAME}
|
|
||||||
PATTERN "*.py"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 安装配置文件（如YAML参数文件）到share/<package_name>/config目录
|
|
||||||
install(DIRECTORY config
|
|
||||||
DESTINATION share/${PROJECT_NAME}
|
|
||||||
PATTERN "*.yaml"
|
|
||||||
PATTERN "*.yml"
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
# 声明ament包依赖关系（确保在package.xml中已声明这些依赖）
|
|
||||||
ament_export_dependencies(slam_toolbox rclcpp std_msgs sensor_msgs nav_msgs tf2 tf2_ros geometry_msgs)
|
|
||||||
|
|
||||||
# 必须调用此函数来生成必要的CMake配置
|
|
||||||
ament_package()
|
|
||||||
@@ -1,9 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: angle
|
|
||||||
type: laser_filters/LaserScanAngularBoundsFilter
|
|
||||||
params:
|
|
||||||
lower_angle: -1.52
|
|
||||||
upper_angle: 1.52
|
|
||||||
|
|
||||||
@@ -1,15 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: box_filter
|
|
||||||
type: laser_filters/LaserScanBoxFilter
|
|
||||||
params:
|
|
||||||
box_frame: base_link
|
|
||||||
max_x: 0.5
|
|
||||||
max_y: 0.5
|
|
||||||
max_z: 0.5
|
|
||||||
min_x: -0.5
|
|
||||||
min_y: -0.5
|
|
||||||
min_z: -0.5
|
|
||||||
|
|
||||||
invert: false # activate to remove all points outside of the box
|
|
||||||
@@ -1,7 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: footprint_filter
|
|
||||||
type: laser_filters/LaserScanFootprintFilter
|
|
||||||
params:
|
|
||||||
inscribed_radius: 0.325
|
|
||||||
@@ -1,9 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: intensity
|
|
||||||
type: laser_filters/LaserScanIntensityFilter
|
|
||||||
params:
|
|
||||||
lower_threshold: 8000.
|
|
||||||
upper_threshold: 100000.
|
|
||||||
disp_histogram: 0
|
|
||||||
@@ -1,19 +0,0 @@
|
|||||||
scan_filter_chain:
|
|
||||||
- name: angle_bounds
|
|
||||||
type: laser_filters/LaserScanAngularBoundsFilter
|
|
||||||
params:
|
|
||||||
# 示例：如果您只想处理前方180度的数据，可以设置为：
|
|
||||||
lower_angle: -1.57 # 约-90度
|
|
||||||
upper_angle: 1.57 # 约90度
|
|
||||||
|
|
||||||
- name: range_filter
|
|
||||||
type: laser_filters/LaserScanRangeFilter
|
|
||||||
params:
|
|
||||||
# 过滤掉无效的距离值，这对于SLAM非常重要
|
|
||||||
lower_threshold: 0.2 # 忽略小于0.2米的测量（如雷达自身的噪声）
|
|
||||||
upper_threshold: 20.0 # 忽略大于20.0米的测量（通常是不稳定的数据）
|
|
||||||
use_message_range_limits: false
|
|
||||||
|
|
||||||
- name: interpolation
|
|
||||||
type: laser_filters/InterpolationFilter
|
|
||||||
# 此滤波器没有参数，它会自动对因过滤产生的无效值（如NaN）进行插值修复[1](@ref)
|
|
||||||
@@ -1,87 +0,0 @@
|
|||||||
|
|
||||||
slam_toolbox:
|
|
||||||
ros__parameters:
|
|
||||||
|
|
||||||
# Plugin params
|
|
||||||
solver_plugin: solver_plugins::CeresSolver
|
|
||||||
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
|
||||||
ceres_preconditioner: SCHUR_JACOBI
|
|
||||||
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
|
||||||
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
|
||||||
ceres_loss_function: None
|
|
||||||
|
|
||||||
# ROS Parameters
|
|
||||||
odom_frame: odom
|
|
||||||
map_frame: map
|
|
||||||
base_frame: base_footprint
|
|
||||||
scan_topic: /scan
|
|
||||||
use_map_saver: true
|
|
||||||
mode: mapping
|
|
||||||
|
|
||||||
# lifelong params
|
|
||||||
lifelong_search_use_tree: false
|
|
||||||
lifelong_minimum_score: 0.1
|
|
||||||
lifelong_iou_match: 0.85
|
|
||||||
lifelong_node_removal_score: 0.04
|
|
||||||
lifelong_overlap_score_scale: 0.06
|
|
||||||
lifelong_constraint_multiplier: 0.08
|
|
||||||
lifelong_nearby_penalty: 0.001
|
|
||||||
lifelong_candidates_scale: 0.03
|
|
||||||
|
|
||||||
# if you'd like to immediately start continuing a map at a given pose
|
|
||||||
# or at the dock, but they are mutually exclusive, if pose is given
|
|
||||||
# will use pose
|
|
||||||
#map_file_name: test_steve
|
|
||||||
#map_start_pose: [0.0, 0.0, 0.0]
|
|
||||||
#map_start_at_dock: true
|
|
||||||
|
|
||||||
debug_logging: false
|
|
||||||
throttle_scans: 1
|
|
||||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
|
||||||
map_update_interval: 5.0
|
|
||||||
resolution: 0.05
|
|
||||||
min_laser_range: 0.0 #for rastering images
|
|
||||||
max_laser_range: 20.0 #for rastering images
|
|
||||||
minimum_time_interval: 0.5
|
|
||||||
transform_timeout: 0.2
|
|
||||||
tf_buffer_duration: 10.
|
|
||||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
|
||||||
|
|
||||||
# General Parameters
|
|
||||||
use_scan_matching: true
|
|
||||||
use_scan_barycenter: true
|
|
||||||
minimum_travel_distance: 0.5
|
|
||||||
minimum_travel_heading: 0.5
|
|
||||||
scan_buffer_size: 10
|
|
||||||
scan_buffer_maximum_scan_distance: 10.0
|
|
||||||
link_match_minimum_response_fine: 0.1
|
|
||||||
link_scan_maximum_distance: 1.5
|
|
||||||
loop_search_maximum_distance: 3.0
|
|
||||||
do_loop_closing: true
|
|
||||||
loop_match_minimum_chain_size: 10
|
|
||||||
loop_match_maximum_variance_coarse: 3.0
|
|
||||||
loop_match_minimum_response_coarse: 0.35
|
|
||||||
loop_match_minimum_response_fine: 0.45
|
|
||||||
|
|
||||||
# Correlation Parameters - Correlation Parameters
|
|
||||||
correlation_search_space_dimension: 0.5
|
|
||||||
correlation_search_space_resolution: 0.01
|
|
||||||
correlation_search_space_smear_deviation: 0.1
|
|
||||||
|
|
||||||
# Correlation Parameters - Loop Closure Parameters
|
|
||||||
loop_search_space_dimension: 8.0
|
|
||||||
loop_search_space_resolution: 0.05
|
|
||||||
loop_search_space_smear_deviation: 0.03
|
|
||||||
|
|
||||||
# Scan Matcher Parameters
|
|
||||||
distance_variance_penalty: 0.5
|
|
||||||
angle_variance_penalty: 1.0
|
|
||||||
|
|
||||||
fine_search_angle_offset: 0.00349
|
|
||||||
coarse_search_angle_offset: 0.349
|
|
||||||
coarse_angle_resolution: 0.0349
|
|
||||||
minimum_angle_penalty: 0.9
|
|
||||||
minimum_distance_penalty: 0.5
|
|
||||||
use_response_expansion: true
|
|
||||||
min_pass_through: 2
|
|
||||||
occupancy_threshold: 0.1
|
|
||||||
@@ -1,70 +0,0 @@
|
|||||||
slam_toolbox:
|
|
||||||
ros__parameters:
|
|
||||||
solver_plugin: solver_plugins::CeresSolver
|
|
||||||
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
|
||||||
ceres_preconditioner: SCHUR_JACOBI
|
|
||||||
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
|
||||||
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
|
||||||
ceres_loss_function: None
|
|
||||||
|
|
||||||
# ROS Parameters
|
|
||||||
odom_frame: odom
|
|
||||||
map_frame: map
|
|
||||||
base_frame: base_link
|
|
||||||
scan_topic: /scan
|
|
||||||
mode: localization #localization
|
|
||||||
|
|
||||||
# if you'd like to start localizing on bringup in a map and pose
|
|
||||||
#map_file_name: test_steve
|
|
||||||
#map_start_pose: [5.0, 1.0, 0.0]
|
|
||||||
|
|
||||||
debug_logging: false
|
|
||||||
throttle_scans: 1
|
|
||||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
|
||||||
map_update_interval: 5.0
|
|
||||||
resolution: 0.05
|
|
||||||
min_laser_range: 0.0 #for rastering images
|
|
||||||
max_laser_range: 20.0 #for rastering images
|
|
||||||
minimum_time_interval: 0.5
|
|
||||||
transform_timeout: 0.2
|
|
||||||
tf_buffer_duration: 30.
|
|
||||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
|
||||||
|
|
||||||
# General Parameters
|
|
||||||
use_scan_matching: true
|
|
||||||
use_scan_barycenter: true
|
|
||||||
minimum_travel_distance: 0.5
|
|
||||||
minimum_travel_heading: 0.5
|
|
||||||
scan_buffer_size: 3
|
|
||||||
scan_buffer_maximum_scan_distance: 10.0
|
|
||||||
link_match_minimum_response_fine: 0.1
|
|
||||||
link_scan_maximum_distance: 1.5
|
|
||||||
do_loop_closing: true
|
|
||||||
loop_match_minimum_chain_size: 3
|
|
||||||
loop_match_maximum_variance_coarse: 3.0
|
|
||||||
loop_match_minimum_response_coarse: 0.35
|
|
||||||
loop_match_minimum_response_fine: 0.45
|
|
||||||
|
|
||||||
# Correlation Parameters - Correlation Parameters
|
|
||||||
correlation_search_space_dimension: 0.5
|
|
||||||
correlation_search_space_resolution: 0.01
|
|
||||||
correlation_search_space_smear_deviation: 0.1
|
|
||||||
|
|
||||||
# Correlation Parameters - Loop Closure Parameters
|
|
||||||
loop_search_space_dimension: 8.0
|
|
||||||
loop_search_space_resolution: 0.05
|
|
||||||
loop_search_space_smear_deviation: 0.03
|
|
||||||
loop_search_maximum_distance: 3.0
|
|
||||||
|
|
||||||
# Scan Matcher Parameters
|
|
||||||
distance_variance_penalty: 0.5
|
|
||||||
angle_variance_penalty: 1.0
|
|
||||||
|
|
||||||
fine_search_angle_offset: 0.00349
|
|
||||||
coarse_search_angle_offset: 0.349
|
|
||||||
coarse_angle_resolution: 0.0349
|
|
||||||
minimum_angle_penalty: 0.9
|
|
||||||
minimum_distance_penalty: 0.5
|
|
||||||
use_response_expansion: true
|
|
||||||
min_pass_through: 2
|
|
||||||
occupancy_threshold: 0.1
|
|
||||||
@@ -1,69 +0,0 @@
|
|||||||
slam_toolbox:
|
|
||||||
ros__parameters:
|
|
||||||
|
|
||||||
# Plugin params
|
|
||||||
solver_plugin: solver_plugins::CeresSolver
|
|
||||||
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
|
||||||
ceres_preconditioner: SCHUR_JACOBI
|
|
||||||
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
|
||||||
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
|
||||||
ceres_loss_function: None
|
|
||||||
|
|
||||||
# ROS Parameters
|
|
||||||
odom_frame: odom
|
|
||||||
map_frame: map
|
|
||||||
base_frame: base_footprint
|
|
||||||
scan_topic: /scan
|
|
||||||
use_map_saver: true
|
|
||||||
mode: mapping #localization
|
|
||||||
debug_logging: false
|
|
||||||
throttle_scans: 1
|
|
||||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
|
||||||
map_update_interval: 10.0
|
|
||||||
resolution: 0.05
|
|
||||||
min_laser_range: 0.0 #for rastering images
|
|
||||||
max_laser_range: 20.0 #for rastering images
|
|
||||||
minimum_time_interval: 0.5
|
|
||||||
transform_timeout: 0.2
|
|
||||||
tf_buffer_duration: 14400.
|
|
||||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
|
||||||
enable_interactive_mode: true
|
|
||||||
|
|
||||||
# General Parameters
|
|
||||||
use_scan_matching: true
|
|
||||||
use_scan_barycenter: true
|
|
||||||
minimum_travel_distance: 0.5
|
|
||||||
minimum_travel_heading: 0.5
|
|
||||||
scan_buffer_size: 10
|
|
||||||
scan_buffer_maximum_scan_distance: 10.0
|
|
||||||
link_match_minimum_response_fine: 0.1
|
|
||||||
link_scan_maximum_distance: 1.5
|
|
||||||
loop_search_maximum_distance: 3.0
|
|
||||||
do_loop_closing: true
|
|
||||||
loop_match_minimum_chain_size: 10
|
|
||||||
loop_match_maximum_variance_coarse: 3.0
|
|
||||||
loop_match_minimum_response_coarse: 0.35
|
|
||||||
loop_match_minimum_response_fine: 0.45
|
|
||||||
|
|
||||||
# Correlation Parameters - Correlation Parameters
|
|
||||||
correlation_search_space_dimension: 0.5
|
|
||||||
correlation_search_space_resolution: 0.01
|
|
||||||
correlation_search_space_smear_deviation: 0.1
|
|
||||||
|
|
||||||
# Correlation Parameters - Loop Closure Parameters
|
|
||||||
loop_search_space_dimension: 8.0
|
|
||||||
loop_search_space_resolution: 0.05
|
|
||||||
loop_search_space_smear_deviation: 0.03
|
|
||||||
|
|
||||||
# Scan Matcher Parameters
|
|
||||||
distance_variance_penalty: 0.5
|
|
||||||
angle_variance_penalty: 1.0
|
|
||||||
|
|
||||||
fine_search_angle_offset: 0.00349
|
|
||||||
coarse_search_angle_offset: 0.349
|
|
||||||
coarse_angle_resolution: 0.0349
|
|
||||||
minimum_angle_penalty: 0.9
|
|
||||||
minimum_distance_penalty: 0.5
|
|
||||||
use_response_expansion: true
|
|
||||||
min_pass_through: 2
|
|
||||||
occupancy_threshold: 0.1
|
|
||||||
@@ -1,78 +0,0 @@
|
|||||||
slam_toolbox:
|
|
||||||
ros__parameters:
|
|
||||||
|
|
||||||
# Plugin params
|
|
||||||
solver_plugin: solver_plugins::CeresSolver
|
|
||||||
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
|
||||||
ceres_preconditioner: SCHUR_JACOBI
|
|
||||||
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
|
||||||
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
|
||||||
ceres_loss_function: None
|
|
||||||
|
|
||||||
# ROS Parameters
|
|
||||||
odom_frame: odom
|
|
||||||
map_frame: map
|
|
||||||
base_frame: base_link
|
|
||||||
scan_topic: /scan
|
|
||||||
use_map_saver: true
|
|
||||||
mode: mapping #localization
|
|
||||||
samples: 440
|
|
||||||
# if you'd like to immediately start continuing a map at a given pose
|
|
||||||
# or at the dock, but they are mutually exclusive, if pose is given
|
|
||||||
# will use pose
|
|
||||||
#map_file_name: test_steve
|
|
||||||
# map_start_pose: [0.0, 0.0, 0.0]
|
|
||||||
#map_start_at_dock: true
|
|
||||||
|
|
||||||
debug_logging: false
|
|
||||||
throttle_scans: 5
|
|
||||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
|
||||||
map_update_interval: 0.01
|
|
||||||
resolution: 0.01
|
|
||||||
min_laser_range: 0.21 #for rastering images
|
|
||||||
max_laser_range: 15.0 #for rastering images
|
|
||||||
minimum_time_interval: 0.1
|
|
||||||
transform_timeout: 2.0
|
|
||||||
tf_buffer_duration: 30.
|
|
||||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
|
||||||
enable_interactive_mode: true
|
|
||||||
|
|
||||||
# General Parameters
|
|
||||||
use_scan_matching: true
|
|
||||||
use_scan_barycenter: true
|
|
||||||
minimum_travel_distance: 0.2
|
|
||||||
minimum_travel_heading: 0.2
|
|
||||||
scan_buffer_size: 10
|
|
||||||
samples: 440
|
|
||||||
scan_buffer_maximum_scan_distance: 10.0
|
|
||||||
link_match_minimum_response_fine: 0.1
|
|
||||||
link_scan_maximum_distance: 1.5
|
|
||||||
loop_search_maximum_distance: 3.0
|
|
||||||
do_loop_closing: true
|
|
||||||
loop_match_minimum_chain_size: 10
|
|
||||||
loop_match_maximum_variance_coarse: 3.0
|
|
||||||
loop_match_minimum_response_coarse: 0.35
|
|
||||||
loop_match_minimum_response_fine: 0.45
|
|
||||||
|
|
||||||
# Correlation Parameters - Correlation Parameters
|
|
||||||
correlation_search_space_dimension: 0.5
|
|
||||||
correlation_search_space_resolution: 0.05
|
|
||||||
correlation_search_space_smear_deviation: 0.1
|
|
||||||
|
|
||||||
# Correlation Parameters - Loop Closure Parameters
|
|
||||||
loop_search_space_dimension: 8.0
|
|
||||||
loop_search_space_resolution: 0.05
|
|
||||||
loop_search_space_smear_deviation: 0.03
|
|
||||||
|
|
||||||
# Scan Matcher Parameters
|
|
||||||
distance_variance_penalty: 0.5
|
|
||||||
angle_variance_penalty: 1.0
|
|
||||||
|
|
||||||
fine_search_angle_offset: 0.00349
|
|
||||||
coarse_search_angle_offset: 0.349
|
|
||||||
coarse_angle_resolution: 0.0349
|
|
||||||
minimum_angle_penalty: 0.9
|
|
||||||
minimum_distance_penalty: 0.5
|
|
||||||
use_response_expansion: true
|
|
||||||
min_pass_through: 2
|
|
||||||
occupancy_threshold: 0.1
|
|
||||||
@@ -1,77 +0,0 @@
|
|||||||
slam_toolbox:
|
|
||||||
ros__parameters:
|
|
||||||
|
|
||||||
# Plugin params
|
|
||||||
solver_plugin: solver_plugins::CeresSolver
|
|
||||||
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
|
||||||
ceres_preconditioner: SCHUR_JACOBI
|
|
||||||
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
|
||||||
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
|
||||||
ceres_loss_function: None
|
|
||||||
|
|
||||||
# ROS Parameters
|
|
||||||
odom_frame: odom
|
|
||||||
map_frame: map
|
|
||||||
base_frame: base_footprint
|
|
||||||
scan_topic: /scan
|
|
||||||
use_map_saver: true
|
|
||||||
mode: mapping #localization
|
|
||||||
|
|
||||||
# if you'd like to immediately start continuing a map at a given pose
|
|
||||||
# or at the dock, but they are mutually exclusive, if pose is given
|
|
||||||
# will use pose
|
|
||||||
#map_file_name: test_steve
|
|
||||||
#map_start_pose: [0.0, 0.0, 0.0]
|
|
||||||
#map_start_at_dock: true
|
|
||||||
|
|
||||||
debug_logging: false
|
|
||||||
throttle_scans: 1
|
|
||||||
transform_publish_period: 0.02 #if 0 never publishes odometry
|
|
||||||
map_update_interval: 5.0
|
|
||||||
resolution: 0.05
|
|
||||||
min_laser_range: 0.0 #for rastering images
|
|
||||||
max_laser_range: 20.0 #for rastering images
|
|
||||||
minimum_time_interval: 0.5
|
|
||||||
transform_timeout: 0.2
|
|
||||||
tf_buffer_duration: 30.
|
|
||||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
|
||||||
enable_interactive_mode: true
|
|
||||||
|
|
||||||
# General Parameters
|
|
||||||
use_scan_matching: true
|
|
||||||
use_scan_barycenter: true
|
|
||||||
minimum_travel_distance: 0.5
|
|
||||||
minimum_travel_heading: 0.5
|
|
||||||
scan_buffer_size: 10
|
|
||||||
scan_buffer_maximum_scan_distance: 10.0
|
|
||||||
link_match_minimum_response_fine: 0.1
|
|
||||||
link_scan_maximum_distance: 1.5
|
|
||||||
loop_search_maximum_distance: 3.0
|
|
||||||
do_loop_closing: true
|
|
||||||
loop_match_minimum_chain_size: 10
|
|
||||||
loop_match_maximum_variance_coarse: 3.0
|
|
||||||
loop_match_minimum_response_coarse: 0.35
|
|
||||||
loop_match_minimum_response_fine: 0.45
|
|
||||||
|
|
||||||
# Correlation Parameters - Correlation Parameters
|
|
||||||
correlation_search_space_dimension: 0.5
|
|
||||||
correlation_search_space_resolution: 0.01
|
|
||||||
correlation_search_space_smear_deviation: 0.1
|
|
||||||
|
|
||||||
# Correlation Parameters - Loop Closure Parameters
|
|
||||||
loop_search_space_dimension: 8.0
|
|
||||||
loop_search_space_resolution: 0.05
|
|
||||||
loop_search_space_smear_deviation: 0.03
|
|
||||||
|
|
||||||
# Scan Matcher Parameters
|
|
||||||
distance_variance_penalty: 0.5
|
|
||||||
angle_variance_penalty: 1.0
|
|
||||||
|
|
||||||
fine_search_angle_offset: 0.00349
|
|
||||||
coarse_search_angle_offset: 0.349
|
|
||||||
coarse_angle_resolution: 0.0349
|
|
||||||
minimum_angle_penalty: 0.9
|
|
||||||
minimum_distance_penalty: 0.5
|
|
||||||
use_response_expansion: true
|
|
||||||
min_pass_through: 2
|
|
||||||
occupancy_threshold: 0.1
|
|
||||||
@@ -1,16 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: mask
|
|
||||||
type: laser_filters/LaserScanMaskFilter
|
|
||||||
params:
|
|
||||||
masks:
|
|
||||||
laser:
|
|
||||||
- 100.
|
|
||||||
- 101.
|
|
||||||
- 102.
|
|
||||||
- 103.
|
|
||||||
- 104.
|
|
||||||
- 1000.
|
|
||||||
- 1001.
|
|
||||||
- 1002.
|
|
||||||
@@ -1,20 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
type: laser_filters/LaserArrayFilter
|
|
||||||
name: median
|
|
||||||
params:
|
|
||||||
range_filter_chain:
|
|
||||||
filter1:
|
|
||||||
name: median
|
|
||||||
type: filters/MultiChannelMedianFilterFloat
|
|
||||||
params:
|
|
||||||
number_of_observations: 5
|
|
||||||
unused: 10
|
|
||||||
intensity_filter_chain:
|
|
||||||
filter1:
|
|
||||||
name: median
|
|
||||||
type: filters/MultiChannelMedianFilterFloat
|
|
||||||
params:
|
|
||||||
number_of_observations: 5
|
|
||||||
unused: 10
|
|
||||||
@@ -1,17 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: median_spatial
|
|
||||||
type: laser_filters/LaserScanMedianSpatialFilter
|
|
||||||
params:
|
|
||||||
window_size: 31
|
|
||||||
filter2:
|
|
||||||
name: median_filter
|
|
||||||
type: laser_filters/LaserArrayFilter
|
|
||||||
params:
|
|
||||||
range_filter_chain:
|
|
||||||
filter1:
|
|
||||||
name: median
|
|
||||||
type: filters/MultiChannelMedianFilterFloat
|
|
||||||
params:
|
|
||||||
number_of_observations: 3
|
|
||||||
@@ -1,42 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
type: laser_filters/LaserArrayFilter
|
|
||||||
name: laser_median_5
|
|
||||||
params:
|
|
||||||
range_filter_chain:
|
|
||||||
filter1:
|
|
||||||
name: median_5
|
|
||||||
type: filters/MultiChannelMedianFilterFloat
|
|
||||||
params:
|
|
||||||
number_of_observations: 5
|
|
||||||
unused: 10
|
|
||||||
intensity_filter_chain:
|
|
||||||
filter2:
|
|
||||||
name: median_5
|
|
||||||
type: filters/MultiChannelMedianFilterFloat
|
|
||||||
params:
|
|
||||||
number_of_observations: 5
|
|
||||||
unused: 10
|
|
||||||
filter2:
|
|
||||||
name: intensity
|
|
||||||
type: laser_filters/LaserScanIntensityFilter
|
|
||||||
params:
|
|
||||||
lower_threshold: 8000.
|
|
||||||
upper_threshold: 100000.
|
|
||||||
disp_histogram: 0
|
|
||||||
filter3:
|
|
||||||
name: shadows
|
|
||||||
type: laser_filters/ScanShadowsFilter
|
|
||||||
params:
|
|
||||||
min_angle: 10.
|
|
||||||
max_angle: 170.
|
|
||||||
neighbors: 20
|
|
||||||
window: 0
|
|
||||||
filter4:
|
|
||||||
name: dark_shadows
|
|
||||||
type: laser_filters/LaserScanIntensityFilter
|
|
||||||
params:
|
|
||||||
lower_threshold: 100.
|
|
||||||
upper_threshold: 10000.
|
|
||||||
disp_histogram: 0
|
|
||||||
@@ -1,10 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: polygon_filter
|
|
||||||
type: laser_filters/LaserScanPolygonFilter
|
|
||||||
params:
|
|
||||||
polygon_frame: base_link
|
|
||||||
polygon: '[[0.0, 0.0], [0.1, 0.1], [0.1, 0.0], [0.0, -0.1]]'
|
|
||||||
invert: false
|
|
||||||
footprint_topic: base_footprint_exclude
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: box_filter
|
|
||||||
type: laser_filters/LaserScanRangeFilter
|
|
||||||
params:
|
|
||||||
use_message_range_limits: false # if not specified defaults to false
|
|
||||||
lower_threshold: 0.5 # if not specified defaults to 0.0
|
|
||||||
upper_threshold: 1.0 # if not specified defaults to 100000.0
|
|
||||||
lower_replacement_value: -.inf # if not specified defaults to NaN
|
|
||||||
upper_replacement_value: .inf # if not specified defaults to NaN
|
|
||||||
@@ -1,8 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: scan_blob_filter
|
|
||||||
type: laser_filters/ScanBlobFilter
|
|
||||||
params:
|
|
||||||
max_radius: 0.25 # maximum radius to be considered as blob object
|
|
||||||
min_points: 6 # min scan points to be considered as blob object
|
|
||||||
@@ -1,12 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: scan_filter
|
|
||||||
type: laser_filters/LaserScanSectorFilter
|
|
||||||
params:
|
|
||||||
angle_min: 2.54 # if not specified defaults to 0.0
|
|
||||||
angle_max: -2.54 # if not specified defaults to 0.0
|
|
||||||
range_min: 0.2 # if not specified defaults to 0.0
|
|
||||||
range_max: 2.0 # if not specified defaults to 100000.0
|
|
||||||
clear_inside: true # if not specified defaults to true
|
|
||||||
invert: false # (!clear_inside) if not specified defaults to false
|
|
||||||
@@ -1,18 +0,0 @@
|
|||||||
scan_to_scan_filter_chain:
|
|
||||||
ros__parameters:
|
|
||||||
filter1:
|
|
||||||
name: shadows
|
|
||||||
type: laser_filters/ScanShadowsFilter
|
|
||||||
params:
|
|
||||||
min_angle: 10.
|
|
||||||
max_angle: 170.
|
|
||||||
neighbors: 20
|
|
||||||
window: 1
|
|
||||||
filter2:
|
|
||||||
name: dark_shadows
|
|
||||||
type: laser_filters/LaserScanIntensityFilter
|
|
||||||
params:
|
|
||||||
lower_threshold: 100.
|
|
||||||
upper_threshold: 10000.
|
|
||||||
disp_histogram: 0
|
|
||||||
|
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user