拓展2：FishBot配套雷达驱动教程（源码版）

[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

[distinctyz]

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

[小鱼]

@yongyong 看README

[17171680]

此回复已被删除！

[17171680]

此回复已被删除！

[zbohao7]

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

[小鱼]

@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

[945717873]

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？

[小鱼]

@945717873 没有经过agent，雷达板自带wifi

[mmmkmmm]

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]

[小鱼]

@mmmkmmm 雷达板有调整到串口模式吗

[mmmkmmm]

@小鱼 有调到串口，orangepi上面cutecom都可以收到串口的数据。