ydlidar 동작 이상 > STELLA_N1_Forum

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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