ydlidar 동작 이상
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STELLA N1 SBC 버전: NUC12
REMOTE PC 버전:NUC11
ROS 버전: humble
nuc12 sbc humble에서 lidar 셋업중인데 동작이 이상해서 문의드립니다.
ydlidar_ros2_driver과 YDLidar-SDK 받아서 설치 잘 하였고요
ydlidar_launch.py 실행하면 처음에 회전하면서 초기화가 되는듯하다가 회전이 멈추고 그 후 에러가 발생하면서 간헐적으로 움찔거립니다.
확인 부탁드려요
ydlidar.yaml============================
ydlidar_ros2_driver_node:
ros__parameters:
port: /dev/ydlidar
frame_id: base_scan
ignore_array: ""
# baudrate: 230400
baudrate: 128000
lidar_type: 1
device_type: 0
sample_rate: 9
abnormal_check_count: 4
# resolution_fixed: true
fixed_resolution: true
reversion: true
inverted: true
auto_reconnect: true
isSingleChannel: false
intensity: false
support_motor_dtr: false
angle_max: 180.0
angle_min: -180.0
range_max: 64.0
range_min: 0.01
frequency: 10.0
invalid_range_is_inf: false
터미널===================================
ros2 launch ydlidar_ros2_driver ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/nuc12kim/.ros/log/2024-04-11-14-16-32-813181-nuc12kim-NUC12WSHi7-25795
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_ros2_driver_node-1]: process started with pid [25806]
[INFO] [static_transform_publisher-2]: process started with pid [25808]
[static_transform_publisher-2] [WARN] [1712812593.219324177] []: Old-style arguments are deprecated; see --help for new-style arguments
[ydlidar_ros2_driver_node-1] [INFO] [1712812593.230822370] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.2
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [YDLIDAR] SDK initializing
[ydlidar_ros2_driver_node-1] [YDLIDAR] SDK has been initialized
[ydlidar_ros2_driver_node-1] [YDLIDAR] SDK Version: 1.2.4
[static_transform_publisher-2] [INFO] [1712812593.232346761] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.020000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar successfully connected [/dev/ydlidar:128000]
[ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar running correctly! The health status: good
[ydlidar_ros2_driver_node-1] [YDLIDAR] Baseplate device info
[ydlidar_ros2_driver_node-1] Firmware version: 1.10
[ydlidar_ros2_driver_node-1] Hardware version: 1
[ydlidar_ros2_driver_node-1] Model: X4
[ydlidar_ros2_driver_node-1] Serial: 2022071400040468
[ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar init success, Elapsed time 679 ms
[ydlidar_ros2_driver_node-1] [YDLIDAR] Start to getting intensity flag
[ydlidar_ros2_driver_node-1] [YDLIDAR] Auto set intensity 0
[ydlidar_ros2_driver_node-1] [YDLIDAR] End to getting intensity flag
[ydlidar_ros2_driver_node-1] [YDLIDAR] Create thread 0x6EF03640
[ydlidar_ros2_driver_node-1] [YDLIDAR] Successed to start scan mode, Elapsed time 2615 ms
[ydlidar_ros2_driver_node-1] [YDLIDAR] Fixed Size: 505
[ydlidar_ros2_driver_node-1] [YDLIDAR] Sample Rate: 5.00K
[ydlidar_ros2_driver_node-1] [YDLIDAR] Successed to check the lidar, Elapsed time 0 ms
[ydlidar_ros2_driver_node-1] [2024-04-11 14:16:36][info] [YDLIDAR] Now lidar is scanning...
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 No error
[ydlidar_ros2_driver_node-1] [ERROR] [1712812597.526878235] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] timeout count: 1
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_ros2_driver_node-1] [ERROR] [1712812598.527392730] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] timeout count: 2
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_ros2_driver_node-1] [ERROR] [1712812599.527831352] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 Device Failed
[ydlidar_ros2_driver_node-1] [ERROR] [1712812600.528225859] [ydlidar_ros2_driver_node]: Failed to get scan
REMOTE PC 버전:NUC11
ROS 버전: humble
nuc12 sbc humble에서 lidar 셋업중인데 동작이 이상해서 문의드립니다.
ydlidar_ros2_driver과 YDLidar-SDK 받아서 설치 잘 하였고요
ydlidar_launch.py 실행하면 처음에 회전하면서 초기화가 되는듯하다가 회전이 멈추고 그 후 에러가 발생하면서 간헐적으로 움찔거립니다.
확인 부탁드려요
ydlidar.yaml============================
ydlidar_ros2_driver_node:
ros__parameters:
port: /dev/ydlidar
frame_id: base_scan
ignore_array: ""
# baudrate: 230400
baudrate: 128000
lidar_type: 1
device_type: 0
sample_rate: 9
abnormal_check_count: 4
# resolution_fixed: true
fixed_resolution: true
reversion: true
inverted: true
auto_reconnect: true
isSingleChannel: false
intensity: false
support_motor_dtr: false
angle_max: 180.0
angle_min: -180.0
range_max: 64.0
range_min: 0.01
frequency: 10.0
invalid_range_is_inf: false
터미널===================================
ros2 launch ydlidar_ros2_driver ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/nuc12kim/.ros/log/2024-04-11-14-16-32-813181-nuc12kim-NUC12WSHi7-25795
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_ros2_driver_node-1]: process started with pid [25806]
[INFO] [static_transform_publisher-2]: process started with pid [25808]
[static_transform_publisher-2] [WARN] [1712812593.219324177] []: Old-style arguments are deprecated; see --help for new-style arguments
[ydlidar_ros2_driver_node-1] [INFO] [1712812593.230822370] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.2
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [YDLIDAR] SDK initializing
[ydlidar_ros2_driver_node-1] [YDLIDAR] SDK has been initialized
[ydlidar_ros2_driver_node-1] [YDLIDAR] SDK Version: 1.2.4
[static_transform_publisher-2] [INFO] [1712812593.232346761] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.020000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar successfully connected [/dev/ydlidar:128000]
[ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar running correctly! The health status: good
[ydlidar_ros2_driver_node-1] [YDLIDAR] Baseplate device info
[ydlidar_ros2_driver_node-1] Firmware version: 1.10
[ydlidar_ros2_driver_node-1] Hardware version: 1
[ydlidar_ros2_driver_node-1] Model: X4
[ydlidar_ros2_driver_node-1] Serial: 2022071400040468
[ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar init success, Elapsed time 679 ms
[ydlidar_ros2_driver_node-1] [YDLIDAR] Start to getting intensity flag
[ydlidar_ros2_driver_node-1] [YDLIDAR] Auto set intensity 0
[ydlidar_ros2_driver_node-1] [YDLIDAR] End to getting intensity flag
[ydlidar_ros2_driver_node-1] [YDLIDAR] Create thread 0x6EF03640
[ydlidar_ros2_driver_node-1] [YDLIDAR] Successed to start scan mode, Elapsed time 2615 ms
[ydlidar_ros2_driver_node-1] [YDLIDAR] Fixed Size: 505
[ydlidar_ros2_driver_node-1] [YDLIDAR] Sample Rate: 5.00K
[ydlidar_ros2_driver_node-1] [YDLIDAR] Successed to check the lidar, Elapsed time 0 ms
[ydlidar_ros2_driver_node-1] [2024-04-11 14:16:36][info] [YDLIDAR] Now lidar is scanning...
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 No error
[ydlidar_ros2_driver_node-1] [ERROR] [1712812597.526878235] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] timeout count: 1
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_ros2_driver_node-1] [ERROR] [1712812598.527392730] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] timeout count: 2
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_ros2_driver_node-1] [ERROR] [1712812599.527831352] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [YDLIDAR ERROR]: -1 Device Failed
[ydlidar_ros2_driver_node-1] [ERROR] [1712812600.528225859] [ydlidar_ros2_driver_node]: Failed to get scan
- 이전글모터드라이버 구동 문의 24.04.17
- 다음글라이다 센서 X4 Pro 작동안됨 24.04.11
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안녕하세요.
아이디어 로봇입니다.
우선 아래 블로그 글을 따라 라이다를 윈도우 PC에 연결해 라이다가 문제 없이 작동하는지 확인해 주세요.
https://blog.naver.com/idea_robot/223342225510
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엠디 작성일정상적으로 동작합니다.
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윈도우에서는 정상 동작하는데 아직 험블에서는 마찬가지 현상입니다.
다른 해결책 없을까요
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최고관리자 작성일
안녕하세요.
아이디어 로봇입니다.
STELLA 기존 패키지에 대한 기술 지원이 아닌
SBC 변경 및 커스텀 진행 시 기술 지원이 어려운 점 양해 부탁 드립니다.
감사합니다.