拓展2：FishBot配套雷达驱动教程（源码版）

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

等待修复

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等待修复

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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。

小鱼

@mmmkmmm 驱动里的串口号改了没，改了后有没有重新构建

mmmkmmm

@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。

小鱼

@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

mmmkmmm

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小鱼

@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

mmmkmmm

@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？