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    fishbot雷达建图中断

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    FishBot二驱机器人
    fishbot建图 雷达
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    • 小鱼小
      小鱼 技术大佬 @mixllred
      最后由 编辑

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

      请注意代码格式，非必要不要截图

      请附带更详细的信息，比如网络结构，雷达板版本，你的系统相关信息

      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

      M 1 条回复 最后回复 回复 引用 0
      • M
        mixllred @小鱼
        最后由 mixllred 编辑

        @小鱼

        ubuntu使用的是20.04和ros2(foxy)
        雷达是原配雷达，不是其他型号的雷达
        Firmware version: 1.5
        Hardware version: 1
        Model: S4
        Serial: 2020101300002268
        网络是桥接模式，使用的笔记本电脑开的热点。
        （后面更换Ubuntu22.04 ROS2 Humble 后仍然有这个问题：建图中断）

        配置好驱动后，进行建图测试，开始建图后，会出现

        timout count: 1
[ERROR] [1713344387.186853131] [ydlidar_node]: Failed to get scan
timout count: 2
[ERROR] [1713344389.187233959] [ydlidar_node]: Failed to get scan
[ERROR] [1713344391.188039318] [ydlidar_node]: Failed to get scan
[ERROR] [1713344393.188949412] [ydlidar_node]: Failed to get scan
[ERROR] [1713344395.189370541] [ydlidar_node]: Failed to get scan
[ERROR] [1713344397.190185397] [ydlidar_node]: Failed to get scan
[ERROR] [1713344399.191660545] [ydlidar_node]: Failed to get scan
[ERROR] [1713344401.191919681] [ydlidar_node]: Failed to get scan
[ERROR] [1713344403.192957289] [ydlidar_node]: Failed to get scan
[ERROR] [1713344405.193506477] [ydlidar_node]: Failed to get scan
[ERROR] [1713344407.194619107] [ydlidar_node]: Failed to get scan
[ERROR] [1713344409.195089088] [ydlidar_node]: Failed to get scan

        重试后

        [static_transform_publisher-2] [WARN] [1713687965.313838746] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1713687965.325799112] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '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'
[rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[cartographer_node-3] [INFO] [1713687965.407037161] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/workspace/install/fishbot_laser_driver/share/fishbot_laser_driver/config/fishbot_laser_2d.lua' for 'fishbot_laser_2d.lua'.
[cartographer_node-3] [INFO] [1713687965.407333627] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.407357973] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.407391739] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713687965.407410052] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713687965.407506443] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.407523370] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.409681341] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713687965.409753337] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713687965.409878367] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1713687965.409895396] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1713687965.434317083] [cartographer logger]: I0421 08:26:05.000000 256 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[rviz2-5] [INFO] [1713687966.720573653] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1713687966.721400194] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-5] [INFO] [1713687966.757898421] [rviz2]: Stereo is NOT SUPPORTED
[cartographer_node-3] [INFO] [1713687990.218718154] [cartographer logger]: I0421 08:26:30.000000 256 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638492847902104249'.
[cartographer_node-3] [INFO] [1713687990.218761352] [cartographer logger]: I0421 08:26:30.000000 256 collated_trajectory_builder.cc:81] scan rate: unknown
[cartographer_node-3] [WARN] [1713687990.219176106] [cartographer logger]: W0421 08:26:30.000000 256 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 s
[cartographer_node-3] [INFO] [1713687990.221447106] [cartographer logger]: I0421 08:26:30.000000 256 pose_graph_2d.cc:148] Inserted submap (0, 0).
[rviz2-5] [INFO] [1713687990.391474751] [rviz2]: Trying to create a map of size 68 x 91 using 1 swatches
[rviz2-5] [ERROR] [1713687990.423338297] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-5] active samplers with a different type refer to the same texture image unit
[rviz2-5] [INFO] [1713687992.407318504] [rviz2]: Trying to create a map of size 69 x 91 using 1 swatches
[rviz2-5] [INFO] [1713687993.400064229] [rviz2]: Trying to create a map of size 89 x 118 using 1 swatches
[rviz2-5] [INFO] [1713687994.391925904] [rviz2]: Trying to create a map of size 90 x 118 using 1 swatches

        和小鱼给的范例输出图片比对，发现进行#2建图测试后，我的输出不一样

        ) 驱动雷达
2) 建图测试
3) 退出
#? 1
UART2SOCKET:8888->/tmp/fishbot_laser
Prepare to Accept connect!
3 <socket.socket fd=6, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=0, laddr=('172.17.0.2', 8888), raddr=('192.168.43.165', 62416)> 4
PTY: Opened /dev/pts/1 for 0.0.0.0:8888
[YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[YDLIDAR]:SDK Version: 1.4.5
[YDLIDAR]:Lidar running correctly ! The health status: good
[YDLIDAR] Connection established in [/tmp/fishbot_laser][115200]:
Firmware version: 1.5
Hardware version: 1
Model: S4
Serial: 2020101300002268
[YDLIDAR]:Fixed Size: 360
[YDLIDAR]:Sample Rate: 3K
[YDLIDAR INFO] Current Sampling Rate : 3K
[YDLIDAR INFO] Now YDLIDAR is scanning ......
timout count: 1
[ERROR] [1713344387.186853131] [ydlidar_node]: Failed to get scan
timout count: 2
[ERROR] [1713344389.187233959] [ydlidar_node]: Failed to get scan
[ERROR] [1713344391.188039318] [ydlidar_node]: Failed to get scan
[ERROR] [1713344393.188949412] [ydlidar_node]: Failed to get scan
[ERROR] [1713344395.189370541] [ydlidar_node]: Failed to get scan
[ERROR] [1713344397.190185397] [ydlidar_node]: Failed to get scan
[ERROR] [1713344399.191660545] [ydlidar_node]: Failed to get scan
[ERROR] [1713344401.191919681] [ydlidar_node]: Failed to get scan
[ERROR] [1713344403.192957289] [ydlidar_node]: Failed to get scan
[ERROR] [1713344405.193506477] [ydlidar_node]: Failed to get scan
[ERROR] [1713344407.194619107] [ydlidar_node]: Failed to get scan
[ERROR] [1713344409.195089088] [ydlidar_node]: Failed to get scan

#? 2
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-21-08-26-05-220524-08d262fab448-251
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [laser_x2-1]: process started with pid [252]
[INFO] [static_transform_publisher-2]: process started with pid [254]
[INFO] [cartographer_node-3]: process started with pid [256]
[INFO] [cartographer_occupancy_grid_node-4]: process started with pid [268]
[INFO] [rviz2-5]: process started with pid [270]
[static_transform_publisher-2] [WARN] [1713687965.313838746] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1713687965.325799112] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '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'
[rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[cartographer_node-3] [INFO] [1713687965.407037161] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/workspace/install/fishbot_laser_driver/share/fishbot_laser_driver/config/fishbot_laser_2d.lua' for 'fishbot_laser_2d.lua'.
[cartographer_node-3] [INFO] [1713687965.407333627] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.407357973] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.407391739] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713687965.407410052] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1713687965.407506443] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.407523370] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1713687965.409681341] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713687965.409753337] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1713687965.409878367] [cartographer logger]: I0421 08:26:05.000000 256 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.

        我认为和以下报错有关

        [rviz2-5] [INFO] [1713687966.720573653] [rviz2]: Stereo is NOT SUPPORTED

        和

        [cartographer_node-3] [INFO] [1713687990.218718154] [cartographer logger]: I0421 08:26:30.000000 256 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638492847902104249'.
[cartographer_node-3] [INFO] [1713687990.218761352] [cartographer logger]: I0421 08:26:30.000000 256 collated_trajectory_builder.cc:81] scan rate: unknown
[cartographer_node-3] [WARN] [1713687990.219176106] [cartographer logger]: W0421 08:26:30.000000 256 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 s
[cartographer_node-3] [INFO] [1713687990.221447106] [cartographer logger]: I0421 08:26:30.000000 256 pose_graph_2d.cc:148] Inserted submap (0, 0).
[rviz2-5] [INFO] [1713687990.391474751] [rviz2]: Trying to create a map of size 68 x 91 using 1 swatches
[rviz2-5] [ERROR] [1713687990.423338297] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-5] active samplers with a different type refer to the same texture image unit
[rviz2-5] [INFO] [1713687992.407318504] [rviz2]: Trying to create a map of size 69 x 91 using 1 swatches
[rviz2-5] [INFO] [1713687993.400064229] [rviz2]: Trying to create a map of size 89 x 118 using 1 swatches
[rviz2-5] [INFO] [1713687994.391925904] [rviz2]: Trying to create a map of size 90 x 118 using 1 swatches
[rviz2-5] [INFO] [1713687998.396203407] [rviz2]: Trying to create a map of size 132 x 140 using 1 swatches
[rviz2-5] [INFO] [1713687999.416110199] [rviz2]: Trying to create a map of size 143 x 140 using 1 swatches
[rviz2-5] [INFO] [1713688000.212715186] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1713687990.210 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[cartographer_node-3] [INFO] [1713688005.282019885] [cartographer logger]: I0421 08:26:45.000000 256 collated_trajectory_builder.cc:81] scan rate: 2.22 Hz 4.50e-01 s +/- 5.82e-01 s (pulsed at 100.01% real time)
        M 小鱼小 2 条回复 最后回复 回复 引用 0
        • M
          mixllred @mixllred
          最后由 mixllred 编辑

          @mixllred

          最新还是无法正常建图

          欢迎鱼香ROS使用雷达驱动系统，注意当前版本为ROS2版本驱动哦~
1) 驱动雷达
2) 建图测试
3) 退出
#? 1
UART2SOCKET:8888->/tmp/fishbot_laser
Prepare to Accept connect!
3 <socket.socket fd=6, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=0, laddr=('172.17.0.2', 8888), raddr=('192.168.43.165', 62906)> 4
PTY: Opened /dev/pts/3 for 0.0.0.0:8888
[YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[YDLIDAR]:SDK Version: 1.4.5
[YDLIDAR]:Lidar running correctly ! The health status: good
[YDLIDAR] Connection established in [/tmp/fishbot_laser][115200]:
Firmware version: 1.5
Hardware version: 1
Model: S4
Serial: 2021031800000019
timout count: 1
[YDLIDAR]:Fixed Size: 420
[YDLIDAR]:Sample Rate: 3K
[YDLIDAR INFO] Current Sampling Rate : 3K
[YDLIDAR INFO] Now YDLIDAR is scanning ......
[ERROR] [1714203275.305460386] [ydlidar_node]: Failed to get scan
timout count: 1
[ERROR] [1714203277.305937727] [ydlidar_node]: Failed to get scan
          1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @mixllred
            最后由 编辑

            @mixllred 在 fishbot雷达建图中断 中说：

            网络是桥接模式，使用的笔记本电脑开的热点。

            很想给你画一张结构图，虚拟机用桥接，笔记本开热点，你观察下小车的ip地址和虚拟机的ip,你肯定会发现两者不在同一个网段里。

            小车要想把数据发送给虚拟机（假设桥接模式），需要经过这样一条链路：

            小车-->电脑主机(中间还有网卡转发，更加耗时)-->路由器-->虚拟机

            如果是小车直接连接路由器，电脑桥接或者不是虚拟机，正常链路是：
            小车-->路由器-->虚拟机

            可以找客服要一个常见问题解答视频，里面有关于网络的详细介绍。

            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

            M 1 条回复 最后回复 回复 引用 0
            • M
              mixllred @小鱼
              最后由 mixllred 编辑

              @小鱼
              ip:192.168.137.47
              S_ip:192.168.43.199

              在虚拟机里尝试ping：

              ~/Desktop$ ping 192.168.137.47
PING 192.168.137.47 (192.168.137.47) 56(84) bytes of data.

              和

              ~/Desktop$ ping 192.168.143.199
PING 192.168.143.199 (192.168.143.199) 56(84) bytes of data.
From 192.168.43.165 icmp_seq=1 Redirect Network(New nexthop: 1.43.168.192)
From 192.168.43.165 icmp_seq=2 Redirect Network(New nexthop: 1.43.168.192)
From 192.168.43.165 icmp_seq=3 Redirect Network(New nexthop: 1.43.168.192)
From 192.168.43.165 icmp_seq=4 Redirect Network(New nexthop: 1.43.168.192)
              小鱼小 1 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @mixllred
                最后由 小鱼 编辑

                @mixllred 从ip可以看出都不再一个网段里，而且无法直接ping通。符合我提供的不推荐的网络结构，还不如直接让小车连路由，过电脑是多此一举。

                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                M 1 条回复 最后回复 回复 引用 0
                • M
                  mixllred @小鱼
                  最后由 mixllred 编辑

                  @小鱼 路由器可以连无线网卡吗，校内只有校园内网，只能在一个设备ip使用

                  小鱼小 1 条回复 最后回复 回复 引用 0
                  • 小鱼小
                    小鱼 技术大佬 @mixllred
                    最后由 编辑

                    @mixllred 原来是校园网，校园网质量是非常差的，你能跑起来就是万幸了，建议买个二手路由器，十来块钱，非常好用。

                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                    M 1 条回复 最后回复 回复 引用 0
                    • M
                      mixllred @小鱼
                      最后由 mixllred 编辑

                      @小鱼 是笔记本通过有线网卡连接到路由器上，然后路由器（不上网）相当提供一个局域网吗？因为校内网线接口都需要登陆，连接路由器十分困难
                      谢谢小鱼，我大概理解了

                      小鱼小 1 条回复 最后回复 回复 引用 0
                      • 小鱼小
                        小鱼 技术大佬 @mixllred
                        最后由 编辑

                        @mixllred 路由器不用上网，能提供一个稳定的内网数据链路就好。

                        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                        M 1 条回复 最后回复 回复 引用 0
                        • M
                          mixllred @小鱼
                          最后由 编辑

                          此回复已被删除！
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