[FishBot教程] 9.0.6. 雷达驱动及建图测试

[591259845]

请问一下小鱼我能成功完成1）WIFI转串口测试和 2) 驱动雷达，但是打开新终端输入ros2 topic list没有任何话题显示是为什么？输入ros2 topic hz /scan显示下面这些：
sszb-wan@sszb-2:/mnt/c/WINDOWS/system32$ ros2 topic hz /scan
WARNING: topic [/scan] does not appear to be published yet
average rate: 6.638
min: 0.146s max: 0.156s std dev: 0.00280s window: 8
average rate: 6.629
min: 0.146s max: 0.156s std dev: 0.00281s window: 15
average rate: 6.637
min: 0.146s max: 0.156s std dev: 0.00253s window: 22
average rate: 6.633
min: 0.146s max: 0.156s std dev: 0.00239s window: 29

[小鱼]

@591259845 这表示正常的意思

[591259845]

@小鱼 但是我ros2 topic list后什么话题都没有，scan话题也没有，后续可以建图但是建好的地图不能保存。
sszb-wan@sszb-2:/mnt/c/Users/qianr$ ros2 topic list
^Csszb-wan@sszb-2:/mnt/c/Users/qianr$
sszb-wan@sszb-2:/mnt/c/Users/qianr$ ros2 topic list

[小鱼]

@591259845 什么系统平台软件

[591259845]

@小鱼 JI就是正常的win11+wsl2+Ubuntu22.04+ROS2 humble，但是我WSL2用的是新版本推荐的镜像网络不是桥接网络，我有时间试下还是用桥接网络行不行。

[591259845]

@591259845

@591259845 在 [FishBot教程] 9.0.6. 雷达驱动及建图测试 中说：

@小鱼 JI就是正常的win11+wsl2+Ubuntu22.04+ROS2 humble，但是我WSL2用的是新版本推荐的镜像网络不是桥接网络，我有时间试下还是用桥接网络行不行。

用回桥接网络就好了。。。。

[591259845]

请问下小鱼，为什么启动雷达驱动的时候经常会报这种错？是不是docker挂了？
sszb@sszb-2:/mnt/c/Users/qianr$ 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
access control disabled, clients can connect from any host
[sudo] password for sszb:
docker: Error response from daemon: failed to set up container networking: driver failed programming external connectivity on endpoint bold_tu (af0f4c653e527e9407e785a9649362e8553ab0d0245a2b885bafaa9af2efb849): Bind for 0.0.0.0:8889 failed: port is already allocated

Run 'docker run --help' for more information

[小鱼]

@591259845 https://cn.bing.com/search?q=site%3Afishros.org.cn or 0.0.0.0%3A8889 failed%3A port is already allocated

[wangkang1551]

ubuntu 22.04 雷达驱动话题没显示，但是测试建图会有图，建图没法保存，上面的issue也看到了类似问题。需要怎么解决

[2177527864]

@mixllred 我也是这个情况，transform不稳定一直跳动

[jowee]

系统 24.04，非虚拟机
ROS2版本：jazzy
控制板版本：1.7.2.alpha
雷达驱动板版本：1.3.0.alpha

1. 首先进行WIFI转串口测试，结果正常
2. 再进行驱动雷达测试时，可以看到Now lidar is scanning打印，但等待大约30s后，会有如下错误打印：

[INFO] [launch]: All log files can be found below /root/.ros/log/2025-04-10-10-46-19-476772-dab2dd4bbcec-166
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tcp_server-1]: process started with pid [167]
[tcp_server-1] [INFO] [1744281979.611517270] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
[tcp_server-1] [INFO] [1744281979.611779826] [tcp_socket_server_node]: 等待接受连接..
[tcp_server-1] [INFO] [1744281980.013731005] [tcp_socket_server_node]: 来自('192.168.5.20', 54650)的连接已建立
[INFO] [ydlidar_node-2]: process started with pid [190]
[ydlidar_node-2] [INFO] [1744281982.581994205] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-2]
[ydlidar_node-2] [2025-04-10 10:46:22][info] SDK initializing
[ydlidar_node-2] [2025-04-10 10:46:22][info] SDK has been initialized
[ydlidar_node-2] [2025-04-10 10:46:22][info] SDK Version: 1.2.9
[ydlidar_node-2] [2025-04-10 10:46:22][info] Connect elapsed time 0 ms
[ydlidar_node-2] [2025-04-10 10:46:22][info] Lidar successfully connected [/tmp/tty_laser:115200]
[ydlidar_node-2] [2025-04-10 10:46:22][info] Lidar running correctly! The health status good
[ydlidar_node-2] [2025-04-10 10:46:22][info] Current Lidar Model Code 12
[ydlidar_node-2] [2025-04-10 10:46:22][info] Check status, Elapsed time 0 ms
[ydlidar_node-2] [2025-04-10 10:46:22][info] Lidar init success, Elapsed time [0]ms
[ydlidar_node-2] [2025-04-10 10:46:23][info] Start to getting intensity flag
[ydlidar_node-2] [2025-04-10 10:46:23][info] Auto set intensity 1
[ydlidar_node-2] [2025-04-10 10:46:23][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-2] [2025-04-10 10:46:23][info] [YDLIDAR] Create thread 0x77F78640
[ydlidar_node-2] [2025-04-10 10:46:24][info] Successed to start scan mode, Elapsed time 1694 ms
[ydlidar_node-2] [2025-04-10 10:46:24][info] Module device info
[ydlidar_node-2] Firmware version: 3.8
[ydlidar_node-2] Hardware version: 2
[ydlidar_node-2] Models: F2
[ydlidar_node-2] Serial: 2023021300030017
[ydlidar_node-2] [2025-04-10 10:46:24][info] Scan Frequency: 5.00Hz
[ydlidar_node-2] [2025-04-10 10:46:24][info] Fixed Size: 720
[ydlidar_node-2] [2025-04-10 10:46:24][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-10 10:46:24][info] Scan Frequency: 5.00Hz
[ydlidar_node-2] [2025-04-10 10:46:24][info] Fixed Size: 720
[ydlidar_node-2] [2025-04-10 10:46:24][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-10 10:46:24][info] Scan Frequency: 5.00Hz
[ydlidar_node-2] [2025-04-10 10:46:24][info] Fixed Size: 720
[ydlidar_node-2] [2025-04-10 10:46:24][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-10 10:46:24][info] Scan Frequency: 5.00Hz
[ydlidar_node-2] [2025-04-10 10:46:24][info] Fixed Size: 720
[ydlidar_node-2] [2025-04-10 10:46:24][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-10 10:46:24][info] Scan Frequency: 5.00Hz
[ydlidar_node-2] [2025-04-10 10:46:24][info] Fixed Size: 720
[ydlidar_node-2] [2025-04-10 10:46:24][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-10 10:46:24][info] Single Fixed Size: 490
[ydlidar_node-2] [2025-04-10 10:46:24][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-10 10:46:24][info] Successed to check the lidar, Elapsed time 658 ms
[ydlidar_node-2] [2025-04-10 10:46:24][info] Now lidar is scanning...
[ydlidar_node-2] [2025-04-10 10:46:55][error] Check Sum 0xA6FC != 0x6812
[ydlidar_node-2] [2025-04-10 10:46:56][error] Check Sum 0x9AF6 != 0x5BCC
[ydlidar_node-2] [2025-04-10 10:46:59][error] Check Sum 0x38F6 != 0x6BB1
/startup.sh: line 5:   166 Killed                  ros2 launch /workspace/launch/laser_driver.launch.py
#?

再重新进行WIFI转串口测试和驱动雷达会变成这个样子：

#? 2
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-04-10-10-49-24-734249-dab2dd4bbcec-218
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tcp_server-1]: process started with pid [219]
[tcp_server-1] terminate called after throwing an instance of 'std::bad_alloc'
[tcp_server-1]   what():  std::bad_alloc
[ERROR] [tcp_server-1]: process has died [pid 219, exit code -6, cmd '/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server --ros-args --params-file /tmp/launch_params_tzo92wua --params-file /tmp/launch_params_zqa0rwef'].
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
/startup.sh: line 5:   218 Aborted                 (core dumped) ros2 launch /workspace/launch/laser_driver.launch.py

大佬们帮忙看看是什么问题

[小鱼]

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

/startup.sh: line 5: 166 Killed ros2 launch /workspace/launch/laser_driver.launch.py

这一步是自动发生的吗

[jowee]

@小鱼 重新测试了一下，有下面几个现象，麻烦帮忙分析一下

1. 进入 2）驱动雷达 测试，不做其他操作是OK的，放个几分钟也没问题。

2. 进入 2）驱动雷达 测试后，在另一个终端输入 ros2 topic hz /scan，会导致docker终端自动出现下面的打印：

[ydlidar_node-2] [2025-04-11 09:41:32][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-11 09:41:32][info] Successed to check the lidar, Elapsed time 641 ms
[ydlidar_node-2] [2025-04-11 09:41:32][info] Now lidar is scanning...
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
/startup.sh: line 5:    86 Aborted                 (core dumped) ros2 launch /workspace/launch/laser_driver.launch.py
#? 

3. 进入 2）驱动雷达 测试后，在另一个终端输入 ros2 topic echo /scan --once，可以正常看到数据：

zw@zw-UM790:~$ ros2 topic echo /scan --once
header:
  stamp:
    sec: 1744364933
    nanosec: 633379000
  frame_id: laser_frame
angle_min: -3.1415927410125732
angle_max: 3.1415927410125732
angle_increment: 0.012770702131092548
time_increment: 0.00033116465783677995
scan_time: 0.16293300688266754
range_min: 0.05000000074505806
range_max: 64.0
ranges:
- 0.0
- 0.3619999885559082
中间数据省略
- 2.7100000381469727
- '...'
intensities:
- 0.0
- 255.0
- 116.0
中间数据省略
- 6.0
- '...'
---

但docker终端过个几秒会自动出现下面的打印：

[ydlidar_node-2] [2025-04-11 09:48:00][info] Single Fixed Size: 490
[ydlidar_node-2] [2025-04-11 09:48:00][info] Sample Rate: 3.00K
[ydlidar_node-2] [2025-04-11 09:48:00][info] Successed to check the lidar, Elapsed time 639 ms
[ydlidar_node-2] [2025-04-11 09:48:00][info] Now lidar is scanning...
/startup.sh: line 5:    86 Killed                  ros2 launch /workspace/launch/laser_driver.launch.py
#? 

4. 在3的基础上继续进行 2）驱动雷达 测试，在另一个终端输入 ros2 topic echo /scan --once，可以正常看到数据，docker终端有时候会自动出现下面的打印：

[ydlidar_node-2] [2025-04-11 09:51:58][info] Now lidar is scanning...
[ERROR] [ydlidar_node-2]: process has died [pid 134, exit code -9, cmd '/workspace/install/ydlidar/lib/ydlidar/ydlidar_node --ros-args -r __node:=ydlidar_node -r __ns:=/ --params-file /workspace/install/ydlidar/share/ydlidar/params/ydlidar.yaml'].
[ERROR] [tcp_server-1]: process has died [pid 111, exit code -9, cmd '/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server --ros-args --params-file /tmp/launch_params_u30s3nr7 --params-file /tmp/launch_params_2wv5u3xe'].
/startup.sh: line 5:   110 Killed                  ros2 launch /workspace/launch/laser_driver.launch.py
#? 

5. 在4的基础上继续进行 2）驱动雷达 测试，在另一个终端输入 ros2 topic hz /scan，docker终端有时候会自动出现下面的打印：

[ydlidar_node-2] [2025-04-11 09:53:03][info] Now lidar is scanning...
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
/startup.sh: line 5:   162 Aborted                 (core dumped) ros2 launch /workspace/launch/laser_driver.launch.py
#? 

[jowee]

@jowee 有时候是core dump，有时候被kill掉

[小鱼]

@jowee 你的系统内外版本是什么，包括ROS2版本

[jowee]

@小鱼 系统 Ubuntu 24.04，非虚拟机
ROS2版本：jazzy
控制板版本：1.7.2.alpha
雷达驱动板版本：1.3.0.alpha

[小鱼]

@jowee 请用ubuntu22.04

[yyy2409]

@小鱼 大佬帮我看看，我正在进行9.06章节的实验，前面的WiFi和小车ping通并上传雷达数据，雷达驱动测试，rviz2的点云数据可视化均可跑通，但是最后一点建图测试跑不通 具体情况是我输入3建图测试的时候没有任何报错，终端一直有输出信息，但是rviz2没有打开也没有地图加载出来，我手动打开rviz2发现有很多话题可以订阅但是一开始也没有地图，于是我根据视频手动订阅了相关话题 出来的地图也是非常杂乱，我想咨询一下是我哪里操作出问题了吗？
我的linux系统是VMware的ubuntu20.4，ros2是humble版本

[szh12031]

##我按步骤建图，小车已经不动了，但还是在不断扩展空间，ubuntu版本22.04，其他软件都是按教程安装。这是哪里的问题呢。

[小鱼]

@szh12031 解决了吗，网络质量如何