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REMOTE PC 버전: Ubuntu 18.04
ROS 버전: ROS1
안녕하십니까. 계속 질문을 하게 됩니다.
다름이 아니라.
Stella N1 라즈베리파 X4 Pro 로봇에 노트북 x64를 이용하여 구동하고자 하고 있습니다 .
이번에는 git clone https://github.com/ntrexlab/STELLA_N1_PI_X4_ROS1_v2.0.git
을 기반으로 스텔라 라이브러리를 설치했는데요 작동시키면 다음과 같이 에러가 발생합니다.
라이다 드라이버가 X4 Pro용이 아니라 X4이어서 그런것 같은데요 어떻게 해결 수 있을까요?
wheel_radius : 0.087500
axle_length : 0.330000
gear_ratio : 27.000000
---------------------------------------------------------------------------------------------------------
[MotorDriver INFO] PortName : /dev/MW Connect OK
[MotorDriver INFO] NTREX MotorDriver RUN ....
[MotorDriver INFO] Stella Robot Setting OK
[AHRS INFO] AHRS_Calibration OK ....
;|-connect
[AHRS INFO] AHRS_Euler_RESET OK ....
[AHRS INFO] ACC, GYR, DEG, MAG / 10ms / binary
[AHRS INFO] RUN ....
;|-connect
;|-connect
[ERROR] [1717572382.731547842]: ;|Error, cannot retrieve YDLIDAR health code: ffffffff
[ERROR] [1717572384.731586003]: YDLIDAR get DeviceInfo Error
[ERROR] [1717572384.731609901]: [YDLIDAR ERROR] Unsupported lidar
[ydlidar_node-4] process has died [pid 24891, exit code 255, cmd /home/test/catkin_ws/devel/lib/ydlidar/ydlidar_node __name:=ydlidar_node __log:=/home/test/.ros/log/df6b542c-230c-11ef-b94e-588694f76905/ydlidar_node-4.log].
log file: /home/test/.ros/log/df6b542c-230c-11ef-b94e-588694f76905/ydlidar_node-4*.log
- 이전글내비게이션 주행 관련 질문 24.06.07
- 다음글간단한 ROS2 네비게이션 프로그램을 개발하고 싶은데요 24.06.04
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안녕하세요.
아이디어 로봇입니다.
ROS1의 경우 파라미터 파일이 따로 있지 않고 launch파일 내부에 파라미터가 있습니다.
해당부분을 X4 PRO에 맞게 수정해 주세요.
stella/ydlidar_ros/launch/stella_lds.launch
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감자님의 댓글
감자 작성일항상 빠른 답변 감사합니다. ㅠㅠ
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죄송합니다. 설정이 이렇게 되어 있는데요 X4용인것 같습니다. 죄송합니다. X4PRO용 설정이 있을까요?
test@test-ROS1:~/catkin_ws/src/STELLA_N1_PI_X4_ROS1_v2.0/stella/ydlidar_ros/launch$ vi .
<launch>
<node name="ydlidar_node" pkg="ydlidar" type="ydlidar_node" output="screen">
<param name="port" type="string" value="/dev/YDLIDAR"/>
<param name="baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="laser_frame"/>
<param name="angle_fixed" type="bool" value="true"/>
<param name="low_exposure" type="bool" value="false"/>
<param name="heartbeat" type="bool" value="false"/>
<param name="resolution_fixed" type="bool" value="true"/>
<param name="angle_min" type="double" value="-180" />
<param name="angle_max" type="double" value="180" />
<param name="range_min" type="double" value="0.08" />
<param name="range_max" type="double" value="16.0" />
<param name="ignore_array" type="string" value="" />
<param name="samp_rate" type="int" value="9"/>
<param name="frequency" type="double" value="7"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.145 0.0 0.229 3.14 0.0 0.0 /base_footprint /laser_frame 40" />
</launch>
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ㅠㅠ 말씀하신대로 했는데 여전히 에러가;;;발생하네요
started roslaunch server http://localhost:41093/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.13
* /ydlidar_node/angle_max: 180.0
* /ydlidar_node/angle_min: -180.0
* /ydlidar_node/auto_reconnect: True
* /ydlidar_node/baudrate: 128000
* /ydlidar_node/frame_id: base_scan
* /ydlidar_node/frequency: 10.0
* /ydlidar_node/ignore_array:
* /ydlidar_node/isToFLidar: False
* /ydlidar_node/max_range: 12.0
* /ydlidar_node/min_range: 0.1
* /ydlidar_node/port: /dev/YDLIDAR
* /ydlidar_node/resolution_fixed: True
* /ydlidar_node/reversion: True
* /ydlidar_node/samp_rate: 5
* /ydlidar_node/singleChannel: True
NODES
/
base_link_to_laser4 (tf/static_transform_publisher)
stella_ahrs_node (stella_ahrs/stella_ahrs_node)
stella_md_node (stella_md/stella_md_node)
ydlidar_node (ydlidar/ydlidar_node)
auto-starting new master
process[master]: started with pid [15241]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 0a44a684-2313-11ef-b94e-588694f76905
process[rosout-1]: started with pid [15252]
started core service [/rosout]
process[stella_md_node-2]: started with pid [15255]
process[stella_ahrs_node-3]: started with pid [15260]
process[ydlidar_node-4]: started with pid [15261]
PortName : /dev/AHRS Connect OK
process[base_link_to_laser4-5]: started with pid [15262]
[YDLIDAR INFO] Current ROS Driver Version: 1.3.1
[YDLIDAR INFO] Current SDK Version: 1.3.2
;|-connect
[ MotorControlProductInfomaions ]
device_id : 1
prouct_id : 102
software_version : 1.09
hardware_version : 1.00
RS232_Baudrate : 115200
USB_Baudrate : 115200
CAN_Bitlate : 1000
[ Motor_Configuration ]
min_position ---> Motor1 : -1000000 , Motor2 : -1000000
max_position ---> Motor1 : 1000000 , Motor2 : 1000000
encoder_ppr ---> Motor1 : 2000 , Motor2 : 2000
Acceleration ---> Motor1 : 3000.0000 , Motor2 : 3000.0000
Deceleration ---> Motor1 : 3000.0000 , Motor2 : 3000.0000
Max_current ---> Motor1 : 2.3000 , Motor2 : 2.3000
Max_voltage ---> Motor1 : 20.0000 , Motor2 : 20.0000
Max_velocity ---> Motor1 : 3000.0000 , Motor2 : 3000.0000
overvoltage_limit ---> Motor1 : 30.0000 , Motor2 : 30.0000
undervoltage_limit ---> Motor1 : 9.0000 , Motor2 : 9.0000
overcurrent_limit ---> Motor1 : 3.0000 , Motor2 : 3.0000
direction ---> Motor1 : Reverse_Direction , Motor2 : Not_Change
velocity_p_gain ---> Motor1 : 3.3000 , Motor2 : 3.3000
velocity_i_gain ---> Motor1 : 0.0600 , Motor2 : 0.0600
wheel_radius : 0.087500
axle_length : 0.330000
gear_ratio : 27.000000
---------------------------------------------------------------------------------------------------------
[MotorDriver INFO] PortName : /dev/MW Connect OK
[MotorDriver INFO] NTREX MotorDriver RUN ....
[MotorDriver INFO] Stella Robot Setting OK
[AHRS INFO] AHRS_Calibration OK ....
;|-connect
[AHRS INFO] AHRS_Euler_RESET OK ....
[AHRS INFO] ACC, GYR, DEG, MAG / 10ms / binary
[AHRS INFO] RUN ....
;|-connect
;|-connect
[ERROR] [1717575031.606861908]: ;|Error, cannot retrieve YDLIDAR health code: ffffffff
[ERROR] [1717575033.607110857]: YDLIDAR get DeviceInfo Error
[ERROR] [1717575033.607133409]: [YDLIDAR ERROR] Unsupported lidar
[ydlidar_node-4] process has died [pid 15261, exit code 255, cmd /home/test/catkin_ws/devel/lib/ydlidar/ydlidar_node __name:=ydlidar_node __log:=/home/test/.ros/log/0a44a684-2313-11ef-b94e-588694f76905/ydlidar_node-4.log].
log file: /home/test/.ros/log/0a44a684-2313-11ef-b94e-588694f76905/ydlidar_node-4*.log
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이렇게 입력하였습니다 .
test@test-ROS1:~/catkin_ws/src/STELLA_N1_PI_X4_ROS1_v2.0/stella/ydlidar_ros/launch$ cat stella_lds.launch
<launch>
<node name="ydlidar_node" pkg="ydlidar" type="ydlidar_node" output="screen">
<param name="port" type="string" value="/dev/YDLIDAR"/>
<param name="frame_id" type="string" value="base_scan"/>
<param name="ignore_array" type="string" value="" />
<param name="baudrate" type="int" value="128000"/>
<param name="samp_rate" type="int" value="5"/>
<param name="resolution_fixed" type="bool" value="true"/>
<param name="singleChannel" type="bool" value="true"/>
<param name="auto_reconnect" type="bool" value="true"/>
<param name="reversion" type="bool" value="true"/>
<param name="isToFLidar" type="bool" value="false"/>
<param name="angle_max" type="double" value="180" />
<param name="angle_min" type="double" value="-180" />
<param name="max_range" type="double" value="12.0" />
<param name="min_range" type="double" value="0.1" />
<param name="frequency" type="double" value="10.0"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.145 0.0 0.229 3.14 0.0 0.0 /base_footprint /laser_frame 40" />
</launch>
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파라미터 수정 후에도 문제가 발생하는 경우
아래 블로그를 따라 YDLIDAR를 다시 설치하여 주세요.
https://blog.naver.com/idea_robot/223202817620
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https://blog.naver.com/idea_robot/223202817620 으로 하니 RUN상태 되었습니다.
정말 감사합니다. ㅠㅠ