9.5.5完成机器人导航并建图出现问题（使用串口进行连接，后面显示这个）

[1117]

li@ubantu:~/chapt9/microros_ws$ ros2 launch bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/li/.ros/log/2025-04-15-01-28-25-394866-ubantu-4599
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [4601]
[INFO] [robot_state_publisher-2]: process started with pid [4603]
[INFO] [odom2tf-3]: process started with pid [4605]
[INFO] [micro_ros_agent-4]: process started with pid [4624]
[robot_state_publisher-2] [INFO] [1744651705.590238505] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1744651705.590380034] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1744651705.590393148] [robot_state_publisher]: got segment laser_link
[micro_ros_agent-4] [1744651706.006637] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[micro_ros_agent-4] [1744651706.007247] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6
[joint_state_publisher-1] [INFO] [1744651706.257693092] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[INFO] [ydlidar_node-5]: process started with pid [4652]
[ydlidar_node-5] [INFO] [1744651711.305964413] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-5]
[ydlidar_node-5] [2025-04-15 01:28:31][info] SDK initializing
[ydlidar_node-5] [2025-04-15 01:28:31][info] SDK has been initialized
[ydlidar_node-5] [2025-04-15 01:28:31][info] SDK Version: 1.2.9
[ydlidar_node-5] [2025-04-15 01:28:31][info] Connect elapsed time 10 ms
[ydlidar_node-5] [2025-04-15 01:28:31][info] Lidar successfully connected [/dev/ttyUSB1:115200]
[ydlidar_node-5] [2025-04-15 01:28:31][info] Lidar running correctly! The health status good
[ydlidar_node-5] [2025-04-15 01:28:31][info] Current Lidar Model Code 12
[ydlidar_node-5] [2025-04-15 01:28:31][info] Check status, Elapsed time 0 ms
[ydlidar_node-5] [2025-04-15 01:28:31][info] Lidar init success, Elapsed time [12]ms
[ydlidar_node-5] [2025-04-15 01:28:31][info] Start to getting intensity flag
[ydlidar_node-5] [2025-04-15 01:28:33][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-5] [2025-04-15 01:28:33][info] [YDLIDAR] Create thread 0x41800640
[ydlidar_node-5] [2025-04-15 01:28:33][info] Successed to start scan mode, Elapsed time 2537 ms
[ydlidar_node-5] [2025-04-15 01:28:34][error] Timeout count: 1
[ydlidar_node-5] [2025-04-15 01:28:35][error] Timeout count: 2
[ydlidar_node-5] [2025-04-15 01:28:36][error] Timeout count: 3
[ydlidar_node-5] [2025-04-15 01:28:38][error] Check Sum 0x202A != 0x6878
[ydlidar_node-5] [2025-04-15 01:28:39][error] Timeout count: 1
[ydlidar_node-5] [2025-04-15 01:28:40][error] Check Sum 0x6B1A != 0x7812
[ydlidar_node-5] [2025-04-15 01:28:40][error] Timeout count: 2
[ydlidar_node-5] [2025-04-15 01:28:41][error] Timeout count: 1
[ydlidar_node-5] [2025-04-15 01:28:42][error] Check Sum 0x5D90 != 0x02CD
[ydlidar_node-5] [2025-04-15 01:28:42][error] Timeout count: 2
[ydlidar_node-5] [2025-04-15 01:28:43][error] Timeout count: 3
[ydlidar_node-5] [2025-04-15 01:28:44][error] Failed to turn on the Lidar, because the lidar is [Device Failed].
[ydlidar_node-5] [INFO] [1744651724.497044306] [ydlidar_node]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-5]: process has finished cleanly [pid 4652]
[ydlidar_node-5]

我改完后的launch.py如下：
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
bringup_dir = get_package_share_directory(
'bringup')
ydlidar_ros2_dir = get_package_share_directory(
'ydlidar')

urdf2tf = launch.actions.IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        [bringup_dir, '/launch', '/urdf2tf.launch.py']),
)

odom2tf = launch_ros.actions.Node(
    package='bringup',
    executable='odom2tf',
    output='screen'
)

microros_agent = launch_ros.actions.Node(
    package='micro_ros_agent',
    executable='micro_ros_agent',
    arguments=[
        'serial',                 # 切换为串口模式
        '-b', '115200',           # 波特率参数（需字符串类型）
        '--dev', '/dev/ttyUSB1',  # 设备路径
        '-v6'                     # 日志详细级别
    ],
    output='screen'              # 保持终端输出可见
)

ydlidar = launch.actions.IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        [ydlidar_ros2_dir, '/launch', '/ydlidar_launch.py']),
)

# 使用 TimerAction 启动后 5 秒执行 ydlidar 节点
ydlidar_delay = launch.actions.TimerAction(period=5.0, actions=[ydlidar])

return launch.LaunchDescription([
    urdf2tf,
    odom2tf,
    microros_agent,
    ydlidar_delay
])

不知道是什么原因，该怎么修改呢？
后面单独运行这个ros2 launch ydlidar ydlidar_launch.py显示如下（上一章节显示点云成功了的）
li@ubantu:~/chapt9/microros_ws$ ros2 launch ydlidar ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/li/.ros/log/2025-04-15-01-32-03-185276-ubantu-4693
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_node-1]: process started with pid [4704]
[ydlidar_node-1] [INFO] [1744651923.991974545] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-1]
[ydlidar_node-1] [2025-04-15 01:32:03][info] SDK initializing
[ydlidar_node-1] [2025-04-15 01:32:03][info] SDK has been initialized
[ydlidar_node-1] [2025-04-15 01:32:03][info] SDK Version: 1.2.9
[ydlidar_node-1] [2025-04-15 01:32:03][info] Connect elapsed time 6 ms
[ydlidar_node-1] [2025-04-15 01:32:03][info] Lidar successfully connected [/dev/ttyUSB1:115200]
[ydlidar_node-1] [2025-04-15 01:32:03][info] Lidar running correctly! The health status good
[ydlidar_node-1] [2025-04-15 01:32:03][info] Current Lidar Model Code 12
[ydlidar_node-1] [2025-04-15 01:32:03][info] Check status, Elapsed time 1 ms
[ydlidar_node-1] [2025-04-15 01:32:04][info] Lidar init success, Elapsed time [8]ms
[ydlidar_node-1] [2025-04-15 01:32:04][info] Start to getting intensity flag
[ydlidar_node-1] [2025-04-15 01:32:05][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-1] [2025-04-15 01:32:05][info] [YDLIDAR] Create thread 0xB9400640
[ydlidar_node-1] [2025-04-15 01:32:05][error] Check Sum 0xFA01 != 0x0520
[ydlidar_node-1] [2025-04-15 01:32:06][info] Successed to start scan mode, Elapsed time 2073 ms
[ydlidar_node-1] [2025-04-15 01:32:06][error] Timeout count: 1
[ydlidar_node-1] [2025-04-15 01:32:07][error] Timeout count: 2
[ydlidar_node-1] [2025-04-15 01:32:08][error] Timeout count: 3
[ydlidar_node-1] [2025-04-15 01:32:11][error] Timeout count: 1
[ydlidar_node-1] [2025-04-15 01:32:12][error] Timeout count: 2
[ydlidar_node-1] [2025-04-15 01:32:13][error] Timeout count: 3
[ydlidar_node-1] [2025-04-15 01:32:15][error] Timeout count: 1
[ydlidar_node-1] [2025-04-15 01:32:16][error] Failed to turn on the Lidar, because the lidar is [Device Failed].
[ydlidar_node-1] [INFO] [1744651936.529456617] [ydlidar_node]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-1]: process has finished cleanly [pid 4704]
[ydlidar_node-1]

[1117]

@1117 为啥不成功建图··呢？然后有时候显示这个

[小鱼]

@1117 在 9.5.5完成机器人导航并建图出现问题（使用串口进行连接，后面显示这个） 中说：

[ydlidar_node-5] [2025-04-15 01:28:36][error] Timeout count: 3
[ydlidar_node-5] [2025-04-15 01:28:38][error] Check Sum 0x202A != 0x6878
[ydlidar_node-5] [2025-04-15 01:28:39][error] Timeout count: 1
[ydlidar_node-5] [2025-04-15 01:28:40][error] Check Sum 0x6B1A != 0x7812
[ydlidar_node-5] [2025-04-15 01:28:40][error] Timeout count: 2
[ydlidar_node-5] [2025-04-15 01:28:41][error] Timeout count: 1
[ydlidar_node-5] [2025-04-15 01:28:42][error] Check Sum 0x5D90 != 0x02CD
[ydlidar_node-5] [2025-04-15 01:28:42][error] Timeout count: 2
[ydlidar_node-5] [2025-04-15 01:28:43][error] Timeout count: 3
[ydlidar_node-5] [2025-04-15 01:28:44][error] Failed to turn on the Lidar, because the lidar is [Device Failed].
[ydlidar_node-5] [INFO] [1744651724.497044306] [ydlidar_node]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-5]: process has finished cleanly [pid 4652]

像是雷达部分没有正常输出 /scan 话题

[小鱼]

@1117 检查下网络连接，网络结构

[1117]

@小鱼 有/scan话题，鱼哥

[1117]

@小鱼 那我晚点儿再试试换一下网络，但是我是用树莓派4b通过串口和雷达转接板和esp控制板。鱼哥，应该怎么样才是正确的呢？我有点儿疑惑，比如说哪些要改，我这个改了 ，然后雷达参数那边也是改了，然后有雷达话题，雷达数据可以可视化，但是我运行建图的时候找不到图，就像鱼哥你第九章倒数第二节的那个，就是没有，不知道什么原因唉，有点儿发愁

[小鱼]

@1117 用树meipai就走串口模式驱动雷达吧

[1117]

@小鱼 鱼哥·，我就是串口驱动雷达的，我wifi不行，但是无法建图就不知道是什么原因了，我是有点云数据的，可以在rviz2里面显示出来

[小鱼]

@1117 主控板走串口模式需要提高波特率，115200 卡数据