拓展2：FishBot配套雷达驱动教程（源码版）
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@小鱼 这个雷达转接板的源码用什么打开呢，我用plateformio打不开
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@yongyong 看README
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我在运行完代码开启rviz想查看雷达的scan，结果出现以下警告
code_text ros2 launch ydlidar ydlidar_launch.py [INFO] [launch]: All log files can be found below /home/shakima/.ros/log/2025-03-12-00-54-55-396599-shakim-vm-7822 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ydlidar_node-1]: process started with pid [7833] [INFO] [static_transform_publisher-2]: process started with pid [7835] [ydlidar_node-1] [YDLIDAR INFO] Current ROS Driver Version: 1.4.5 [static_transform_publisher-2] [WARN] [1741712096.499273694] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-2] [INFO] [1741712096.553863666] [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] [YDLIDAR] Connection established in [/dev/ttyUSB0][115200]: [ydlidar_node-1] Firmware version: 1.5 [ydlidar_node-1] Hardware version: 1 [ydlidar_node-1] Model: S4 [ydlidar_node-1] Serial: 2022010500000077 [ydlidar_node-1] [YDLIDAR]:Fixed Size: 370 [ydlidar_node-1] [YDLIDAR]:Sample Rate: 3K [ydlidar_node-1] [YDLIDAR INFO] Current Sampling Rate : 3K [ydlidar_node-1] [YDLIDAR INFO] Now YDLIDAR is scanning ...... [ydlidar_node-1] [WARN] [1741712151.422427968] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [ydlidar_node-1] [WARN] [1741712174.547511076] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [ydlidar_node-1] [WARN] [1741712184.172818572] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY -
@zbohao7 在 拓展2：FishBot配套雷达驱动教程（源码版） 中说：
[ydlidar_node-1] [WARN] [1741712184.172818572] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
可以忽略，具体原因参考书籍第十章
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鱼哥，雷达转接板，是将雷达数据通过串口转WiFi，直接在电脑上通过虚拟的串口将进行把数据转化成scan话题的吗？没有经过mircoros发布到电脑agent上面吗？直接将雷达数据通过主控板驱动板esp32s3的WiFi发出可以吗？
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@945717873 没有经过agent，雷达板自带wifi
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帮忙看下：oragepi5 ubuntu22.04 环境，用串口直连雷达，启动报以下错，使用cutecom可以一直收到数据。
(rosenv) orangepi@orangepi5:~/microros_ws/ydlidar/ydlidar_ros2$ ros2 launch ydlidar ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/orangepi/.ros/log/2025-04-21-17-21-20-797657-orangepi5-4156
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_node-1]: process started with pid [4168]
[INFO] [static_transform_publisher-2]: process started with pid [4170]
[static_transform_publisher-2] [WARN] [1745227281.397851091] []: 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] [1745227281.474700624] [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] 547644041440 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 4168] -
@mmmkmmm 雷达板有调整到串口模式吗
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@小鱼 有调到串口，orangepi上面cutecom都可以收到串口的数据。
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@mmmkmmm 驱动里的串口号改了没，改了后有没有重新构建
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@小鱼 进入到源码，修改串口编号ydlidar_ros2/params/ydlidar.yaml，一般是/dev/ttyUSB0
ydlidar_node:
ros__parameters:
port: /dev/ttyUSB0
frame_id: laser_frame
ignore_array: ""这里已经有改了。
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@mmmkmmm cutecom 看这个口有数据吗，这个口确定是雷达吗，有没有重新构建，接线是怎么接的
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@mmmkmmm 看起来也是没问题，你到eai官网找找驱动工具测试一下看看
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@小鱼 EAI官网那个工具有下来测试了，WIN系统下，工具就死机了。orangepi 上面还没试。现在有没有一种可能，是供电问题？看官网手册上面有提到这点？
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@小鱼 使用官网的EAI雷达测试工具，输出以下日志：
[2025-04-22 13:47:58][INFO] Stop test
[2025-04-22 13:47:58][INFO] 停止所有任务
[2025-04-22 13:49:15][INFO] Start test
[2025-04-22 13:49:15][INFO] 启动所有任务
[2025-04-22 13:49:15][INFO] 设置雷达参数...
[2025-04-22 13:49:15][INFO] SDK版本[1.2.6]
[2025-04-22 13:49:15][INFO] 关闭DTR
[2025-04-22 13:49:17][INFO] 关闭DTR
[2025-04-22 13:49:18][WARN] 获取健康信息失败
[2025-04-22 13:49:19][WARN] 获取底板设备信息失败
[2025-04-22 13:49:20][WARN] 获取健康信息失败
[2025-04-22 13:49:21][WARN] 获取底板设备信息失败
[2025-04-22 13:49:21][INFO] 关闭DTR
[2025-04-22 13:49:24][INFO] 关闭DTR
[2025-04-22 13:49:26][INFO] 关闭DTR
[2025-04-22 13:49:27][ERROR] 启动雷达失败
[2025-04-22 13:49:27][ERROR] Failed to start lidar! -
你好，现在orangepi上面报Failed to get scan 这个是什么原因？
(rosenv) orangepi@orangepi5:~/microros_ws/ydlidar/ydlidar_ros2$ ros2 launch ydlidar ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/orangepi/.ros/log/2025-04-23-14-31-36-257614-orangepi5-7885
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_node-1]: process started with pid [7896]
[INFO] [static_transform_publisher-2]: process started with pid [7898]
[static_transform_publisher-2] [WARN] [1745389896.446912442] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1745389896.473410801] [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 INFO] Current ROS Driver Version: 1.4.5
[ydlidar_node-1] [YDLIDAR]:SDK Version: 1.4.5
[ydlidar_node-1] [YDLIDAR]:Lidar running correctly ! The health status: good
[ydlidar_node-1] [YDLIDAR]:Fixed Size: 2050
[ydlidar_node-1] [YDLIDAR]:Sample Rate: 3K
[ydlidar_node-1] [YDLIDAR INFO] Current Sampling Rate : 3K
[ydlidar_node-1] [YDLIDAR INFO] Now YDLIDAR is scanning ......
[ydlidar_node-1] [ERROR] [1745389915.174494029] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389919.145806575] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389921.941235704] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389923.942431973] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389925.943934945] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389927.945296170] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389929.946426398] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389931.947322422] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745389933.948195696] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745390015.568714267] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745390017.569674748] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745390019.570894808] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745390021.571772458] [ydlidar_node]: Failed to get scan
[ydlidar_node-1] [ERROR] [1745390023.572790688] [ydlidar_node]: Failed to get scan -
@mmmkmmm windows上的，板子没有设计DTR,后面的检测失败正常
