拓展2：FishBot配套雷达驱动教程（源码版）

<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.57 0.45 0.17"/>
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5" />
</material>
</visual>
</link>

<link name="laser_frame">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>

<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_frame" />
<origin xyz="0 0 0.075" />
</joint>

<link name="left_front_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<cylinder length="0.07" radius="0.166"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>

</robot>
这是我的URDF，里程计话题发布和教程是一样的，请问中间有什么问题需要更改

dong5515

按照教程编译的时候会报错，我的pi上位机版本是：
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_LOCALHOST_ONLY=0
ROS_DISTRO=foxy

yzq15962508857

你好，usb一连接到虚拟机，就断开是怎么回事啊。，谢谢！

小鱼

@distinctyz 看看驱动占用问题是否解决

小鱼

@dong5515 驱动时humble版本导致的，建议更换到humble

anoddy1999

問題: Failed to turn on the lidar,because the lidar is blocked or the lidar hardware is faulty

設備: jetson orin nano

Linux: Ubuntu22.04

詳細: 我跟著教程5用windows燒錄了固件,最後也成功ping到雷達的地址,接著用拓展教程2 完成了所有設定,可是最後卻反饋failed to turn on the lidar

anthony@ubuntu:~/ydlidar_ros2$ ros2 launch ydlidar ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/anthony/.ros/log/2024-09-14-10-38-52-043155-ubuntu-29717
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_node-1]: process started with pid [29729]
[INFO] [static_transform_publisher-2]: process started with pid [29731]
[static_transform_publisher-2] [WARN] [1726281532.326946046] []: Old-style arguments are deprecated; see --help for new-style arguments
[ydlidar_node-1] [YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[static_transform_publisher-2] [INFO] [1726281532.361383537] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.020000', '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'
[ydlidar_node-1] [YDLIDAR]:SDK Version: 1.4.5
[ydlidar_node-1] [YDLIDAR]:Lidar running correctly ! The health status: good
[ydlidar_node-1] timout count: 1
[ydlidar_node-1] timout count: 2
[ydlidar_node-1] timout count: 1
[ydlidar_node-1] 281472560785632 thread has been canceled
[ydlidar_node-1] [CYdLidar] Failed to turn on the Lidar, because the lidar is blocked or the lidar hardware is faulty.
[ydlidar_node-1] [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-1]: process has finished cleanly [pid 29729]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[static_transform_publisher-2] [INFO] [1726281607.981043452] [rclcpp]: signal_handler(signum=2)
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 29731]

小鱼

@anoddy1999 在拓展2：FishBot配套雷达驱动教程（源码版）中说：

最後也成功ping到

是谁ping通的，windows还是jetson，各个的ip地址是什么报一下

anoddy1999

@小鱼是jetson ping到的
fishbot版的ip 是:192.168.1.79
jetson的ip是：192.168.1.207

小鱼

@anoddy1999 雷达板的IP呢，两者要分开配哦，另外最好单独发帖，跟贴容易被吃掉

流浪呆猫

@154453683 感谢，问题解决

yongyong

@小鱼这个雷达转接板的源码用什么打开呢，我用plateformio打不开

小鱼

@yongyong 看README

拓展2：FishBot配套雷达驱动教程（源码版）

无线驱动这段没看懂呢，有线的跑通了 这个python运行后，是谁来连接它呢？ 我运行后处于 Prepare to Accept connect!状态 然后我把ydlidar_ros2/params/ydlidar.yaml 改为 port: /tmp/fishbot_laser 编译后，运行会time out，

問題: Failed to turn on the lidar,because the lidar is blocked or the lidar hardware is faulty

設備: jetson orin nano

Linux: Ubuntu22.04

詳細: 我跟著教程5用windows燒錄了固件,最後也成功ping到 雷達的地址,接著用拓展教程2 完成了所有設定,可是最後卻反饋failed to turn on the lidar

无线驱动这段没看懂呢，有线的跑通了
这个python运行后，是谁来连接它呢？
我运行后处于 Prepare to Accept connect!状态
然后我把ydlidar_ros2/params/ydlidar.yaml 改为 port: /tmp/fishbot_laser
编译后，运行会time out，

詳細: 我跟著教程5用windows燒錄了固件,最後也成功ping到雷達的地址,接著用拓展教程2 完成了所有設定,可是最後卻反饋failed to turn on the lidar