[FishBot教程] 6. 雷达驱动及建图测试

mixllred

@mixllred
建图前雷达连接正常，开始建图后雷达转接板指示灯一闪一闪，出现以上报错，出现基本地图图像后建图停止，一个坐标轴开始偏离起始点（雷达没有移动）

mixllred

@mixllred 在 [FishBot教程] 6. 雷达驱动及建图测试中说：

@mixllred
建图前雷达连接正常，开始建图后雷达转接板指示灯一闪一闪，出现以上报错，出现基本地图图像后建图停止，一个坐标轴开始偏离起始点（雷达没有移动）

@小鱼

驱动雷达
建图测试
退出
#? 2
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-17-03-09-33-024637-0e0b6e597728-48
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [laser_x2-1]: process started with pid [49]
[INFO] [static_transform_publisher-2]: process started with pid [51]
[INFO] [cartographer_node-3]: process started with pid [53]
[INFO] [cartographer_occupancy_grid_node-4]: process started with pid [55]
[INFO] [rviz2-5]: process started with pid [57]
[static_transform_publisher-2] [WARN] [1713323373.381805889] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1713323373.453802981] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[cartographer_node-3] [INFO] [1713323373.468241251] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/workspace/install/fishbot_laser_driver/share/fishbot_laser_driver/config/fishbot_laser_2d.lua' for 'fishbot_laser_2d.lua'.
[cartographer_node-3] [INFO] [1713323373.470254898] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713323373.471063510] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713323373.472037645] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713323373.472087576] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713323373.472576546] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713323373.472652258] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713323373.473540021] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713323373.473565354] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713323373.475454388] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1713323373.475525833] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1713323373.513228297] [cartographer logger]: I0417 03:09:33.000000 53 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[rviz2-5] [INFO] [1713323375.276606532] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1713323375.276847655] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-5] [INFO] [1713323375.377706087] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [rviz2-5]: process has finished cleanly [pid 57]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[static_transform_publisher-2] [INFO] [1713323445.889626697] [rclcpp]: signal_handler(signum=2)
[cartographer_occupancy_grid_node-4] [INFO] [1713323445.889629396] [rclcpp]: signal_handler(signum=2)
[laser_x2-1] Traceback (most recent call last):
[laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/fishbot_laser_driver/laser_x2", line 33, in <module>
[laser_x2-1] sys.exit(load_entry_point('fishbot-laser-driver==0.0.0', 'console_scripts', 'laser_x2')())
[laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 83, in main
[cartographer_node-3] [INFO] [1713323445.890779139] [rclcpp]: signal_handler(signum=2)
[cartographer_node-3] [INFO] [1713323445.892393929] [cartographer logger]: I0417 03:10:45.000000 53 node.cpp:569] Shutdown the subscriber of [scan]
[cartographer_node-3] [INFO] [1713323445.892404802] [cartographer logger]: I0417 03:10:45.000000 53 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
[cartographer_node-3] [INFO] [1713323445.892462594] [cartographer logger]: I0417 03:10:45.000000 53 map_builder_bridge.cpp:161] Running final trajectory optimization...
[cartographer_node-3] [INFO] [1713323445.892541842] [cartographer logger]: I0417 03:10:45.000000 90 pose_graph_2d.cc:538] Remaining work items in queue: 2
[cartographer_node-3] [INFO] [1713323445.892582549] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1713323445.892593095] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[cartographer_node-3] [INFO] [1713323445.892601242] [cartographer logger]: I0417 03:10:45.000000 90 pose_graph_2d.cc:538] Remaining work items in queue: 1
[cartographer_node-3] [INFO] [1713323445.892608468] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1713323445.892612679] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[laser_x2-1] SocketServer()
[laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 35, in init
[laser_x2-1] self.main()
[laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 52, in main
[laser_x2-1] client, client_address = s.accept()
[laser_x2-1] File "/usr/lib/python3.10/socket.py", line 293, in accept
[cartographer_node-3] [INFO] [1713323445.897581908] [cartographer logger]: I0417 03:10:45.000000 93 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1713323445.897597265] [cartographer logger]: I0417 03:10:45.000000 93 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
[laser_x2-1] fd, addr = self._accept()
[laser_x2-1] KeyboardInterrupt
Optimizing: Done.
[cartographer_node-3] [INFO] [1713323445.908903661] [cartographer logger]: I0417 03:10:45.000000 92 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-3] [INFO] [1713323445.908924915] [cartographer logger]: I0417 03:10:45.000000 92 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-3] Count: 0
Optimizing: Done.
[ERROR] [laser_x2-1]: process has died [pid 49, exit code -2, cmd '/workspace/install/fishbot_laser_driver/lib/fishbot_laser_driver/laser_x2 --ros-args -r __node:=laser_x2'].
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 51]
[INFO] [cartographer_occupancy_grid_node-4]: process has finished cleanly [pid 55]
[INFO] [cartographer_node-3]: process has finished cleanly [pid 53]
#? 2
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-17-03-10-59-823487-0e0b6e597728-119
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [laser_x2-1]: process started with pid [120]
[INFO] [static_transform_publisher-2]: process started with pid [122]
[INFO] [cartographer_node-3]: process started with pid [124]
[INFO] [cartographer_occupancy_grid_node-4]: process started with pid [136]
[INFO] [rviz2-5]: process started with pid [138]
[static_transform_publisher-2] [WARN] [1713323459.910656240] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1713323459.922487664] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[cartographer_node-3] [INFO] [1713323459.989363279] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/workspace/install/fishbot_laser_driver/share/fishbot_laser_driver/config/fishbot_laser_2d.lua' for 'fishbot_laser_2d.lua'.
[cartographer_node-3] [INFO] [1713323459.992598529] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713323459.993731283] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713323459.994592105] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713323459.995089465] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713323459.995736823] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713323459.996473406] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713323459.997757398] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713323459.998694898] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713323459.999343172] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1713323460.000050997] [cartographer logger]: I0417 03:11:00.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[cartographer_node-3] [INFO] [1713323460.013546805] [cartographer logger]: I0417 03:11:00.000000 124 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[rviz2-5] [INFO] [1713323461.468663953] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1713323461.470127987] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-5] [INFO] [1713323461.502845070] [rviz2]: Stereo is NOT SUPPORTED
[laser_x2-1] timout count: 1
[cartographer_node-3] [INFO] [1713323481.123088627] [cartographer logger]: I0417 03:11:21.000000 124 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638489202810840850'.
[cartographer_node-3] [INFO] [1713323481.123138202] [cartographer logger]: I0417 03:11:21.000000 124 collated_trajectory_builder.cc:81] scan rate: unknown
[cartographer_node-3] [INFO] [1713323481.123171552] [cartographer logger]: I0417 03:11:21.000000 124 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
[cartographer_node-3] [INFO] [1713323481.150925466] [cartographer logger]: I0417 03:11:21.000000 124 pose_graph_2d.cc:148] Inserted submap (0, 0).
[rviz2-5] [INFO] [1713323482.028109586] [rviz2]: Trying to create a map of size 156 x 72 using 1 swatches
[rviz2-5] [ERROR] [1713323482.054869295] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-5] active samplers with a different type refer to the same texture image unit
[rviz2-5] [ERROR] [1713323483.856608731] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323483.861673 but the latest data is at time 1713323483.861673, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [ERROR] [1713323485.386181754] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323485.397941 but the latest data is at time 1713323485.397691, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [INFO] [1713323488.007710668] [rviz2]: Trying to create a map of size 158 x 73 using 1 swatches
[rviz2-5] [ERROR] [1713323488.456158042] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323488.462029 but the latest data is at time 1713323488.461279, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [INFO] [1713323489.001771792] [rviz2]: Trying to create a map of size 160 x 74 using 1 swatches
[rviz2-5] [ERROR] [1713323489.863286941] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323489.861070 but the latest data is at time 1713323489.860945, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [INFO] [1713323491.042040818] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1713323481.033 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1713323491.125363673] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1713323481.123 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [ERROR] [1713323491.432702030] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323491.444609 but the latest data is at time 1713323491.429419, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [ERROR] [1713323492.969022591] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323492.968907 but the latest data is at time 1713323492.968782, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [INFO] [1713323493.992594985] [rviz2]: Trying to create a map of size 160 x 155 using 1 swatches
[rviz2-5] [ERROR] [1713323494.664151929] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323494.659646 but the latest data is at time 1713323494.659021, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [ERROR] [1713323494.892792809] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323494.936818 but the latest data is at time 1713323494.936818, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [ERROR] [1713323495.015974891] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323495.061806 but the latest data is at time 1713323495.061556, when looking up transform from frame [laser_frame] to frame [map]
[rviz2-5] [ERROR] [1713323495.176454398] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323495.186660 but the latest data is at time 1713323495.186035, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [INFO] [1713323496.388982766] [cartographer logger]: I0417 03:11:36.000000 124 collated_trajectory_builder.cc:81] scan rate: 1.63 Hz 6.12e-01 s +/- 6.30e-01 s (pulsed at 99.92% real time)
[rviz2-5]

mixllred

@mixllred
) 驱动雷达
2) 建图测试
3) 退出
#? 1
UART2SOCKET:8888->/tmp/fishbot_laser
Prepare to Accept connect!
3 <socket.socket fd=6, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=0, laddr=('172.17.0.2', 8888), raddr=('192.168.43.165', 62416)> 4
PTY: Opened /dev/pts/1 for 0.0.0.0:8888
[YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[YDLIDAR]:SDK Version: 1.4.5
[YDLIDAR]:Lidar running correctly ! The health status: good
[YDLIDAR] Connection established in [/tmp/fishbot_laser][115200]:
Firmware version: 1.5
Hardware version: 1
Model: S4
Serial: 2020101300002268
[YDLIDAR]:Fixed Size: 360
[YDLIDAR]:Sample Rate: 3K
[YDLIDAR INFO] Current Sampling Rate : 3K
[YDLIDAR INFO] Now YDLIDAR is scanning ......
timout count: 1
[ERROR] [1713344387.186853131] [ydlidar_node]: Failed to get scan
timout count: 2
[ERROR] [1713344389.187233959] [ydlidar_node]: Failed to get scan
[ERROR] [1713344391.188039318] [ydlidar_node]: Failed to get scan
[ERROR] [1713344393.188949412] [ydlidar_node]: Failed to get scan
[ERROR] [1713344395.189370541] [ydlidar_node]: Failed to get scan
[ERROR] [1713344397.190185397] [ydlidar_node]: Failed to get scan
[ERROR] [1713344399.191660545] [ydlidar_node]: Failed to get scan
[ERROR] [1713344401.191919681] [ydlidar_node]: Failed to get scan
[ERROR] [1713344403.192957289] [ydlidar_node]: Failed to get scan
[ERROR] [1713344405.193506477] [ydlidar_node]: Failed to get scan
[ERROR] [1713344407.194619107] [ydlidar_node]: Failed to get scan
[ERROR] [1713344409.195089088] [ydlidar_node]: Failed to get scan
[ERROR] [1713344411.195370974] [ydlidar_node]: Failed to get scan
[ERROR] [1713344413.196157579] [ydlidar_node]: Failed to get scan

小鱼

@mixllred 请按照要求，单独发帖提问

mixllred

@小鱼 https://fishros.org.cn/forum/topic/2465/fishbot雷达建图中断

苏格拉没有底

雷达建图不是很清晰，感觉很模糊，是啥问题，如何解决

Ryan🎸

针对第四步，点云数据已经有了，但是Crtl+C，然后输入2之后，并没有产生建图，我遗漏了哪些步骤吗？

Ryan🎸

@1006076811 在 [FishBot教程] 6. 雷达驱动及建图测试中说：

针对第四步，点云数据已经有了，但是Crtl+C，然后输入2之后，并没有产生建图，我遗漏了哪些步骤吗？

我明白了，需要在rviz2里再添加一个map的监视

hanhui8301

我这确实没有 /scan 话题

小徐要早睡

可以正常启动，但是过了一会就会显示failed to get scan 跳帽也转成wifi模式了，请问怎么解决，topic list中也没有话题

小徐要早睡

@1141682555
有时候也有报错
“Failed to turn on the Lidar, because the lidar is blocked or the lidar hardware is faulty”

小鱼

@1141682555 这个一般是网络不稳定造成的，优化网络结构可以解决

小徐要早睡

@小鱼我用的是手机热点，是因为热点不稳定造成的么？

小鱼

@1141682555 资料和教程中应该有强调，不要用手机的

小徐要早睡

建图时会出现地图重叠的问题，而且laser_frame和base_link坐标系会脱离这是什么问题造成的啊

等待修复

在执行

sudo xhost + && sudo docker run  -it --rm  -v /dev:/dev -v /dev/shm:/dev/shm --privileged  -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 registry.cn-hangzhou.aliyuncs.com/fishros/fishbot_laser

出现了下面的错误

No protocol specified

xhost:  unable to open display ":10.0"

配置都正常，雷达也在运行状态，可以ping通

小鱼

@2462331351 这个和显示相关，如果显示正常可以忽略

等待修复

@小鱼有这个镜像的DockerFile吗，我想要重新构建ARM平台的镜像可以给我一下吗

小鱼

@2462331351 这个时间太久了，我自己都找不到了，不过你可以到dockerhub，那里能看到镜像的构建命令

1281857896

@小鱼 2024-08-11 15-12-37屏幕截图.png

无线驱动雷达，一开始可以
当我看到移动小车建图时，运行驱动这个雷达就又不行了
之后重启，单独运行无线驱动雷达就一直是旁边这个报错了