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    [FishBot教程] 9.0.6. 雷达驱动及建图测试

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    • S
      sunhao2202 年度VIP
      最后由 编辑

      雷达驱动问题：
      [ydlidar_node-2] [2025-01-03 11:31:56][error] Check Sum 0x68D7 != 0x1569
      [ydlidar_node-2] [2025-01-03 11:31:59][error] Check Sum 0x5DEA != 0x1B19
      [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
      [ydlidar_node-2] [ERROR] [1735903928.417755598] [ydlidar_node]: Failed to get scan
      [ydlidar_node-2] [2025-01-03 11:32:08][error] Timeout count: 1
      [ydlidar_node-2] [2025-01-03 11:32:08][error] Check Sum 0x121C != 0x0233
      [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xB856 != 0x868F
      [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xBF44 != 0xD5E3
      [ydlidar_node-2] [2025-01-03 11:32:35][error] Check Sum 0x53E4 != 0x51BD
      [ydlidar_node-2] [2025-01-03 11:32:36][error] Check Sum 0xD974 != 0x87D3
      [ydlidar_node-2] [2025-01-03 11:32:50][error] Check Sum 0x1E40 != 0x0FDE
      [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
      [ydlidar_node-2] [ERROR] [1735903972.437430773] [ydlidar_node]: Failed to get scan
      [ydlidar_node-2] [2025-01-03 11:32:52][error] Timeout count: 1
      [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
      [ydlidar_node-2] [ERROR] [1735903973.437858047] [ydlidar_node]: Failed to get scan
      [ydlidar_node-2] [2025-01-03 11:32:53][error] Timeout count: 2
      [ydlidar_node-2] [2025-01-03 11:32:53][error] Check Sum 0x1A71 != 0x15AB
      ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
      [ydlidar_node-2] [INFO] [1735903974.800384796] [rclcpp]: signal_handler(signum=2)
      [ERROR] [tcp_server-1]: process has died [pid 59, exit code -2, cmd '/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server --ros-args --params-file /tmp/launch_params_s0dvbmtk --params-file /tmp/launch_params_4auj8l85'].
      [tcp_server-1] Traceback (most recent call last):
      [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server", line 33, in <module>
      [tcp_server-1] sys.exit(load_entry_point('ros-serail2wifi==0.0.0', 'console_scripts', 'tcp_server')())
      [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/python3.10/site-packages/ros_serail2wifi/tcpserver.py", line 76, in main
      [tcp_server-1] node.run()
      [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/python3.10/site-packages/ros_serail2wifi/tcpserver.py", line 49, in run

      雷达建图问题：

      [ydlidar_node-6] [2025-01-03 11:26:54][error] Timeout count: 2
      [ydlidar_node-6] [2025-01-03 11:26:54][error] Timeout count: 3
      [cartographer_node-3] [INFO] [1735903614.135216721] [cartographer logger]: I0103 11:26:54.000000 63 node.cpp:569] Shutdown the subscriber of [scan]
      [cartographer_node-3] [INFO] [1735903614.135283530] [cartographer logger]: I0103 11:26:54.000000 63 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
      [cartographer_node-3] [WARN] [1735903614.135465851] [cartographer logger]: W0103 11:26:54.000000 63 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now.
      [cartographer_node-3] [INFO] [1735903614.135520310] [cartographer logger]: I0103 11:26:54.000000 63 node.cpp:551] Trajectory 0 already pending to finish.
      [cartographer_node-3] [INFO] [1735903614.135590080] [cartographer logger]: I0103 11:26:54.000000 63 map_builder_bridge.cpp:161] Running final trajectory optimization...
      [cartographer_node-3] [INFO] [1735903614.136761950] [cartographer logger]: I0103 11:26:54.000000 116 pose_graph_2d.cc:538] Remaining work items in queue: 2
      [cartographer_node-3] [INFO] [1735903614.136858631] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:290] 21 computations resulted in 0 additional constraints.
      [cartographer_node-3] [INFO] [1735903614.137078579] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:292] Score histogram:
      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
      [cartographer_node-3] [INFO] [1735903614.159599813] [cartographer logger]: I0103 11:26:54.000000 116 pose_graph_2d.cc:538] Remaining work items in queue: 1
      [cartographer_node-3] [INFO] [1735903614.159673485] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
      [cartographer_node-3] [INFO] [1735903614.160093412] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:292] Score histogram:
      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
      [cartographer_node-3] [INFO] [1735903614.175929395] [cartographer logger]: I0103 11:26:54.000000 115 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
      [cartographer_node-3] [INFO] [1735903614.176097541] [cartographer logger]: I0103 11:26:54.000000 115 constraint_builder_2d.cc:292] Score histogram:
      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
      [cartographer_node-3] [INFO] [1735903614.194124283] [cartographer logger]: I0103 11:26:54.000000 114 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
      [cartographer_node-3] [INFO] [1735903614.194258427] [cartographer logger]: I0103 11:26:54.000000 114 constraint_builder_2d.cc:292] Score histogram:
      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
      Optimizing: Done.
      Optimizing: Done.
      [ydlidar_node-6] [YDLIDAR ERROR]: -1 Device is not open
      [ydlidar_node-6] [ERROR] [1735903615.059047626] [ydlidar_node]: Failed to get scan

      小鱼小 2 条回复 最后回复 回复 引用 0
      • S
        sunhao2202 年度VIP @jerry_88965294
        最后由 编辑

        @jerry_88965294 我这也是这个问题，后面都是这样的报错，建图一直跳

        1 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @sunhao2202
          最后由 编辑

          @sunhao2202 您好，使用的是哪个版本的固件，网络质量如何

          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

          1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @sunhao2202
            最后由 编辑

            @sunhao2202 在 [FishBot教程] 9.0.6. 雷达驱动及建图测试 中说：

            [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
            [ydlidar_node-2] [ERROR] [1735903928.417755598] [ydlidar_node]: Failed to get scan
            [ydlidar_node-2] [2025-01-03 11:32:08][error] Timeout count: 1
            [ydlidar_node-2] [2025-01-03 11:32:08][error] Check Sum 0x121C != 0x0233
            [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xB856 != 0x868F
            [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xBF44 != 0xD5E3
            [ydlidar_node-2] [2025-01-03 11:32:35][error] Check Sum 0x53E4 != 0x51BD
            [ydlidar_node-2] [2025-01-03 11:32:36][error] Check Sum 0xD974 != 0x87D3
            [ydlidar_node-2] [2025-01-03 11:32:50][error] Check Sum 0x1E40 != 0x0FDE
            [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
            [ydlidar_node-2] [ERROR] [1735903972.437430773] [ydlidar_node]: Failed to get scan
            [ydlidar_node-2] [2025-01-03 11:32:52][error] Timeout count: 1
            [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
            [ydlidar_node-2] [ERROR] [1735903973.437858047] [ydlidar_node]: Failed to get scan
            [ydlidar_node-2] [2025-01-03 11:32:53][error] Timeout count: 2
            [ydlidar_node-2] [2025-01-03 11:32:53][error] Check Sum 0x1A71 != 0x15AB
            ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
            [ydlidar_node-2] [INFO] [1735903974.800384796] [rclcpp]: signal_handler(signum=2)
            [ERROR] [tcp_server-1]: process has died [pid 59, exit code -2, cmd '/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server --ros-args --params-file /tmp/launch_params_s0dvbmtk --params-file /tmp/launch_params_4auj8l85'].
            [tcp_server-1] Traceback (most recent call last):
            [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server", line 33, in <module>
            [tcp_server-1] sys.exit(load_entry_point('ros-serail2wifi==0.0.0', 'console_scripts', 'tcp_server')())
            [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/python3.10/site-packages/ros_serail2wifi/tcpserver.py", line 76, in main
            [tcp_server-1] node.run()

            驱动正常后再尝试建图

            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

            S Y 2 条回复 最后回复 回复 引用 0
            • S
              sunhao2202 年度VIP @小鱼
              最后由 编辑

              @小鱼 烧录最新固件，我再试试

              1 条回复 最后回复 回复 引用 0
              • Y
                yongyong @小鱼
                最后由 编辑

                此回复已被删除！
                小鱼小 1 条回复 最后回复 回复 引用 0
                • Y
                  yongyong @1216898523
                  最后由 编辑

                  此回复已被删除！
                  1 条回复 最后回复 回复 引用 0
                  • 小鱼小
                    小鱼 技术大佬 @yongyong
                    最后由 编辑

                    @yongyong 把代理删掉

                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                    1 条回复 最后回复 回复 引用 0
                    • 1
                      1270164455
                      最后由 编辑

                      大佬，启动建图的时候打不开rviz是怎么回事：
                      [cartographer_node-3] [INFO] [1736613946.687195477] [cartographer logger]: I0111 16:45:46.000000 63 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
                      [ERROR] [rviz2-5]: process has died [pid 67, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspace/launch/config/map.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_xs5a5ggo'].
                      [tcp_server-1] [INFO] [1736613946.745584663] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser

                      1 小鱼小 2 条回复 最后回复 回复 引用 0
                      • 1
                        1270164455 @1270164455
                        最后由 编辑

                        @1270164455 de278539-390b-4953-92f4-832db3ea2f48-图片.png efcaaf13-b490-4dd1-acc8-3cb3732a7f4a-图片.png

                        1 1 条回复 最后回复 回复 引用 0
                        • 1
                          1270164455 @1270164455
                          最后由 编辑

                          @1270164455 单独可以打开
                          e07977b2-9d95-4f47-92f6-7a9d6b5f0cb7-图片.png

                          1 条回复 最后回复 回复 引用 0
                          • 小鱼小
                            小鱼 技术大佬 @1270164455
                            最后由 编辑

                            @1270164455 我觉得是你的网络或者配置问题

                            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                            1 条回复 最后回复 回复 引用 0
                            • H
                              hxt22222
                              最后由 编辑

                              a273cfb8-0e76-4061-b0a0-fa3af3df33a6.png

                              这是什么问题

                              小鱼小 1 条回复 最后回复 回复 引用 0
                              • 小鱼小
                                小鱼 技术大佬 @hxt22222
                                最后由 小鱼 编辑

                                @hxt22222 1是否正常，看一下视频教程

                                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                1 条回复 最后回复 回复 引用 0
                                • 4
                                  490439406
                                  最后由 编辑

                                  为何会出现checksum的问题呢？鱼佬
                                  4a4c02c9-51fc-4d4b-a82c-2797dffbd1b9-图片.png

                                  小鱼小 1 条回复 最后回复 回复 引用 0
                                  • 小鱼小
                                    小鱼 技术大佬 @490439406
                                    最后由 编辑

                                    @490439406 一般情况下是网络原因造成的，可以尝试更换网络测试

                                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                    G 1 条回复 最后回复 回复 引用 0
                                    • G
                                      greg333 @小鱼
                                      最后由 编辑

                                      @小鱼 小鱼老师，有两个问题求教：
                                      1.过程是我从桌面把机器人放到地面上，然后用键盘控制节点走了一小段，结果它整个建图都飘了，是因为历史记录的原因吗？那我应该怎样清除这些错乱数据呢？
                                      f8241d8b-0b39-412e-b6fa-2aec802369b4-Screenshot from 2025-02-18 17-22-55.png /home/greg/Pictures/Screenshots/Screenshot from 2025-02-18 17-22-55.png
                                      2.我在运行“驱动测试”、“建图测试”时都一直报一个check sum的error，且在运行建图测试时一直报下面的错误
                                      c2d505a4-ed27-4360-9c1a-9f8a9a81360e-Screenshot from 2025-02-18 17-23-33.png /home/greg/Pictures/Screenshots/Screenshot from 2025-02-18 17-23-33.png

                                      求解！

                                      1 条回复 最后回复 回复 引用 0
                                      • G
                                        greg333 @小鱼
                                        最后由 编辑

                                        @小鱼 还有一个问题，我的雷达频率很小，只有1-5hz，是哪个流程可能有问题吗？1b9193b3-9a39-49f7-8309-860a0d5c0ffe-Screenshot from 2025-02-18 17-33-20.png /home/greg/Pictures/Screenshots/Screenshot from 2025-02-18 17-33-20.png

                                        小鱼小 1 条回复 最后回复 回复 引用 0
                                        • 小鱼小
                                          小鱼 技术大佬 @greg333
                                          最后由 编辑

                                          @greg333 ctrl+c 重新运行看看

                                          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                          G 1 条回复 最后回复 回复 引用 0
                                          • G
                                            greg333 @小鱼
                                            最后由 编辑

                                            @小鱼 小鱼老师，重新运行了好几次都是这样。好像确认是网络的问题了：我家是一根有线网络，连接到2.4g的网关这边；然后还有一个5gwifi，通过网线连接到网关。
                                            我两个网络都试过了，建图都飘的不行，我现在打算重新买个纯的2.4g路由器，通过网线连接网关，然后连接这个新的wifi试试。。

                                            小鱼小 1 条回复 最后回复 回复 引用 0
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