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拓展2：FishBot配套雷达驱动教程（源码版）
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@d4nk3n 收到，感谢指正
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@小鱼 在 拓展2：FishBot配套雷达驱动教程（源码版） 中说：
fishbot_laser
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，解决：作者这段py的端口号要改为8889，因为雷达板默认配的是8889
希望可以给后来者 -
@154453683 可以先看快速上手教程，搞定链接
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鱼哥，用树莓派通过串口连接转接板后运行雷达出现雷达停止运行了
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@2524167316 确认下端口号是否正确，串口权限是否正确，可以使用cutecom打开指定端口看看数据。
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E eework 在 中 引用了 这个主题
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雷达启动后会发布/map话题么，我在nav2启动的时候遇到如下报错
需要对雷达驱动进行更改么？ -
@1141682555 雷达启动只发布sca话题,map需要slam算法发布
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@小鱼 我现在建图时候一直发生漂移，/map坐标轴是移动的，/odom坐标轴固定不动
<?xml version="1.0"?>
<robot name="pigbot"><!-- Robot Footprint --><link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0.0 0.0 0.166" rpy="0 0 0"/>
</joint><!-- base link -->
<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><!-- laser 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><!-- laser joint -->
<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_frame" />
<origin xyz="0 0 0.075" />
</joint><!-- wheel link -->
<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><joint name="left_front_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="left_front_wheel_link" />
<origin xyz="0.175 0.225 -0.085" />
<axis xyz="0 1 0" />
</joint><link name="left_back_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><joint name="left_back_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="left_back_wheel_link" />
<origin xyz="-0.175 0.225 -0.085" />
<axis xyz="0 1 0" />
</joint><link name="right_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><joint name="right_front_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="right_front_wheel_link" />
<origin xyz="0.175 -0.225 -0.085" />
<axis xyz="0 1 0" />
</joint><link name="right_back_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><joint name="right_back_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="right_back_wheel_link" />
<origin xyz="-0.175 -0.225 -0.085" />
<axis xyz="0 1 0" />
</joint></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 -
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 -
你好，usb一连接到虚拟机，就断开是怎么回事啊。
，谢谢！ -
@distinctyz 看看驱动占用问题是否解决
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@dong5515 驱动时humble版本导致的，建议更换到humble
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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] -
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@小鱼 是jetson ping到的
fishbot版的ip 是:192.168.1.79
jetson的ip是：192.168.1.207
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@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
