拓展2：FishBot配套雷达驱动教程（源码版）

小鱼

目前FishBot主要配套雷达型号为EAI-X2，后续可能会引入其他雷达。

一、EAI-X2 雷达

针对EAI-X2，采用的驱动为小鱼修改后的ROS2驱动:

代码仓库为：https://github.com/fishros/ydlidar_ros2
代码分支为：v1.0.0/fishbot

1.1 有线驱动-树莓派工控机直连都可以通过这种方式

将配套的雷达转接板模式调整到UART模式，拔掉EN跳线帽（可以关闭ESP8266,节省能源），找一根USB线，将雷达板接入到你要驱动的电脑或者各种PI上。

下载源码到任意一个目录：

git clone http://github.fishros.org/https://github.com/fishros/ydlidar_ros2 -b  v1.0.0/fishbot

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: ""

接着编译：

cd ydlidar_ros2
colcon build

接着修改串口权限，然后运行驱动

sudo chmod 666 /dev/ttyUSB0
source install/setup.bash
ros2 launch ydlidar ydlidar_launch.py
---
[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2023-07-21-23-13-28-893425-raspberrypi-4518
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_node-1]: process started with pid [4539]
[INFO] [static_transform_publisher-2]: process started with pid [4541]
[static_transform_publisher-2] [WARN] [1689952409.891692804] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1689952409.975433434] [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] 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: 2020112400007024
[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 ......

最后使用ros2 topic list 就可以看到话题list了，scan就是雷达话题

os2 topic list
/parameter_events
/rosout
/scan
/tf_static
/ydlidar_node/transition_event

1.2 无线驱动-对于台式机很合适

直接用Docker,最方便：

如果想通过源码的方式也可以，雷达板的主要作用是将雷达数据生成一个虚拟的串口，在电脑上直接运行下面这段Python代码，当连接建立后，就会直接生成一个虚拟串口，然后按照 1.1 的方式就可以直接驱动了。

#!/usr/bin/env python3

import subprocess
import os
import pty
import socket
import select
import argparse
import subprocess
import time

class LaserScanRos2():

    def __init__(self) -> None:
        self.laser_pro = None
    

class SocketServer():
    def __init__(self,lport=8888,uart_name="/tmp/fishbot_laser") -> None:
        self.lport = lport
        self.uart_name = uart_name
        self.laser_ros2 = LaserScanRos2()
        self.main()

    def main(self):
        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
        s.bind(('0.0.0.0', self.lport))
        s.listen(5)
        master, slave = pty.openpty()
        if os.path.exists(self.uart_name):
            os.remove(self.uart_name)
        os.symlink(os.ttyname(slave), self.uart_name)
        print(f"UART2SOCKET:{self.lport}->{self.uart_name}")
        mypoll = select.poll()
        mypoll.register(master, select.POLLIN)
        try:
            while True:
                print("Prepare to Accept connect!")
                client, client_address = s.accept()
                mypoll.register(client.fileno(), select.POLLIN)
                print(s.fileno(), client, master)
                print('PTY: Opened {} for {}:{}'.format(
                    os.ttyname(slave), '0.0.0.0', self.lport))
                is_connect = True
                try:
                    while is_connect:
                        fdlist = mypoll.poll(256)
                        for fd, event in fdlist:
                            data = os.read(fd, 256)
                            write_fd = client.fileno() if fd == master else master
                            if len(data) == 0:
                                is_connect = False
                                break
                            os.write(write_fd, data)
                            # print(fd, event, data)
                except ConnectionResetError:
                    is_connect = False
                    print("远程被迫断开链接")
                finally:
                    mypoll.unregister(client.fileno())
        finally:
            s.close()
            os.close(master)
            os.close(slave)
            os.remove(self.uart_name)

def main():
    SocketServer()


if __name__ == "__main__":
    main()

d4nk3n

@小鱼我感觉这段python代码也许可以修改一下：

https://fishros.org.cn/forum/topic/1477/fishbot雷达板docker驱动断连后不能自动恢复

小鱼

@d4nk3n 收到，感谢指正

Bear

@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

小鱼

@154453683 可以先看快速上手教程，搞定链接

今朝

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 531fd9f3-009d-47ec-9344-11fd7982be06-5d521c2cec135b84f80db650672d5dd.jpg

小鱼

@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。

https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

小徐要早睡

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
165f1f26-a29e-4a74-a74c-e8e24f78c0cb-{A7EE9033-7A33-4166-8955-712DAC622456}.png
需要对雷达驱动进行更改么？

小鱼

@1141682555 雷达启动只发布sca话题,map需要slam算法发布

小徐要早睡

@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_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>

<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>

<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_frame" />
<origin xyz="0 0 0.075" />
</joint>

<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>

</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

dong5515

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

yzq15962508857

你好，usb一连接到虚拟机，就断开是怎么回事啊。，谢谢！

小鱼

@distinctyz 看看驱动占用问题是否解决

小鱼

@dong5515 驱动时humble版本导致的，建议更换到humble

anoddy1999

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]

小鱼

@anoddy1999 在拓展2：FishBot配套雷达驱动教程（源码版）中说：

最後也成功ping到

是谁ping通的，windows还是jetson，各个的ip地址是什么报一下

anoddy1999

@小鱼是jetson ping到的
fishbot版的ip 是:192.168.1.79
jetson的ip是：192.168.1.207

小鱼

@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

流浪呆猫

@154453683 感谢，问题解决

yongyong

@小鱼这个雷达转接板的源码用什么打开呢，我用plateformio打不开