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    新买的二驱小车， 通过micro ros agent连接电脑后，ros2 node list没有对于node

    已定时 已固定 已锁定 已移动
    FishBot二驱机器人
    fishbot agent 编译出错
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    • R
      realez 年度VIP
      最后由 编辑

      硬件环境是x86-64的物理机，ubuntu22，ros2 humble
      代码来自于https://github.com/fishros/fishbot_motion_control_microros.git
      但是默认情况下编译报错，修改micro_ros_platformio的git地址，可以正常编译，烧写
      lib_deps =
      ; https://github.com/micro-ROS/micro_ros_platformio#main
      https://gitee.com/ohhuo/micro_ros_platformio.git

      通过docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6启动后，有大量日志输出
      [1741241003.186936] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x69AE27AA, len: 324, data:
      0000: 81 01 75 03 07 01 3C 01 03 8C 00 15 AB 3A C9 67 40 C5 4F 0A 04 00 00 00 69 6D 75 00 00 00 00 80
      。。。
      [1741241003.187025] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 312, data:
      0000: AB 3A C9 67 40 C5 4F 0A 04 00 00 00 69 6D 75 00 00 00 00 80 14 26 56 3F 00 00 00 20 5A 6A 32 3F
      0020: 00 00 00 40 87 34 CC BF 00

      在ubuntu上ros2 node list没有任何输出

      1 条回复 最后回复 回复 引用 0
      • 小伊小
        机器人小伊
        最后由 编辑

        针对你提到的问题，我们可以从几个方面进行排查和解决：

        1. 确保Micro-ROS Agent与ROS 2节点的通信：

          • 首先，确保你的Micro-ROS Agent正在正确运行，并且已经正确配置为与你的ROS 2节点通信。从你提供的日志来看，Micro-ROS Agent似乎正在接收和发送数据，这表明它至少在某种程度上是工作的。
          • 检查你的Micro-ROS Agent是否运行在正确的网络接口和端口上。在你的命令中，你指定了udp4 --port 8888，确保你的嵌入式设备也配置为向这个地址和端口发送数据。

        2. 检查ROS 2节点的配置：

          • 确保你的ROS 2节点（运行在嵌入式设备上的Micro-ROS应用）已经正确初始化，并且正在尝试发布或订阅话题，或者提供/使用服务。节点如果没有任何活动（如没有发布或订阅任何话题），ros2 node list可能不会显示它，因为它在ROS 2网络中实际上没有“活动”。
          • 检查嵌入式设备的Micro-ROS代码，确保它正确设置了ROS 2节点名，并且节点名没有与ROS 2系统中的其他节点冲突。

        3. 检查网络连接：

          • 确保你的物理机（运行ROS 2核心）和嵌入式设备（运行Micro-ROS应用）在同一个网络上，或者至少能够相互通信。你可以使用ping命令来测试网络连接。
          • 如果使用UDP进行通信，确保没有防火墙规则阻止UDP端口8888的通信。

        4. 查看ROS 2和Micro-ROS的日志：

          • 在你的ROS 2主机上，尝试运行ros2 topic list和ros2 service list来查看是否有任何话题或服务被发布或提供。
          • 在嵌入式设备上，查看Micro-ROS应用的日志输出，看是否有任何错误或警告信息。

        5. 编译和烧写问题：

          • 你提到修改了micro_ros_platformio的git地址后能够正常编译和烧写。确保你使用的代码库是最新的，或者至少是与你的ROS 2版本兼容的。
          • 如果使用了特定的分支或标签，请检查这些是否与你的ROS 2环境相匹配。

        6. 重启和清理：

          • 有时候，简单的重启Micro-ROS Agent、ROS 2核心或者嵌入式设备可以解决通信问题。
          • 确保在尝试连接之前，ROS 2核心和Micro-ROS Agent都没有残留的进程或资源占用。

        通过上述步骤，你应该能够诊断并解决连接问题。如果问题仍然存在，可能需要更深入地检查代码或配置。

        以上为生成回答，仅供参考～

        我是小伊，已接入ChatGpt，所有回复，仅供参考～

        1 条回复 最后回复 回复 引用 0
        • R
          realez 年度VIP
          最后由 编辑

          已经搜索了论坛和尝试解决，花费了一天时间暂时没有成功，中间还有的问题：
          https://fishros.com/d2lros2/#/humble/chapt14/basic/2.你的第一个MicroROS节点
          编译这个demo成功，启动agent后有数据收发和截图一样，但是ros2 node list一样没有信息
          ros2 run teleop_twist_keyboard teleop_twist_keyboard 遥控没有反应
          第一次启动用手机遥控正常

          1 条回复 最后回复 回复 引用 0
          • R
            realez 年度VIP
            最后由 编辑

            Executing task: platformio run

            Processing fishbot_motion_control_humble (platform: espressif32; board: featheresp32; framework: arduino)

            Verbose mode can be enabled via -v, --verbose option
            CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
            PLATFORM: Espressif 32 (6.3.1) > Adafruit ESP32 Feather
            HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
            DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
            PACKAGES:

            • framework-arduinoespressif32 @ 3.20009.0 (2.0.9)
            • tool-esptoolpy @ 1.40501.0 (4.5.1)
            • toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch5
              LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
              LDF Modes: Finder ~ chain, Compatibility ~ soft
              Installing importlib-resources with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install importlib-resources
              Requirement already satisfied: importlib-resources in /home/robot/.platformio/penv/lib/python3.10/site-packages (6.5.2)
              Installing pyyaml with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install pyyaml
              Requirement already satisfied: pyyaml in /home/robot/.platformio/penv/lib/python3.10/site-packages (6.0.2)
              Installing markupsafe==2.0.1 with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
              Requirement already satisfied: markupsafe==2.0.1 in /home/robot/.platformio/penv/lib/python3.10/site-packages (2.0.1)
              Installing empy==3.3.4 with pip at PlatformIO environment
              /home/robot/.platformio/penv/bin/python -m pip install empy==3.3.4
              Requirement already satisfied: empy==3.3.4 in /home/robot/.platformio/penv/lib/python3.10/site-packages (3.3.4)
              Configuring featheresp32 with transport custom
              Downloading micro-ROS dev dependencies
              - Downloaded ament_cmake
              - Downloaded ament_lint
              - Downloaded ament_package
              - Downloaded googletest
              - Downloaded ament_cmake_ros
              - Downloaded ament_index
              Building micro-ROS dev dependencies
              Downloading micro-ROS library
              - Downloaded microcdr
              - Downloaded microxrcedds_client
              - Downloaded rcl
              - Downloaded rcl_yaml_param_parser (ignored)
              - Downloaded rcl_lifecycle
              - Downloaded rcl_action
              - Downloaded rclc_lifecycle
              - Downloaded rclc_parameter
              - Downloaded rclc_examples (ignored)
              - Downloaded rclc
              - Downloaded micro_ros_utilities
              - Downloaded rcutils
              - Downloaded micro_ros_msgs
              - Downloaded rmw_microxrcedds
              - Downloaded rosidl_typesupport_c
              - Downloaded rosidl_typesupport_cpp (ignored)
              - Downloaded rosidl_typesupport_microxrcedds_cpp (ignored)
              - Downloaded rosidl_typesupport_microxrcedds_cpp_tests
              - Downloaded rosidl_typesupport_microxrcedds_test_msg
              - Downloaded rosidl_typesupport_microxrcedds_c_tests
              - Downloaded rosidl_typesupport_microxrcedds_c
              - Downloaded rosidl_typesupport_introspection_tests
              - Downloaded rosidl_generator_cpp (ignored)
              - Downloaded rosidl_typesupport_introspection_cpp (ignored)
              - Downloaded rosidl_generator_c
              - Downloaded rosidl_typesupport_introspection_c
              - Downloaded rosidl_parser
              - Downloaded rosidl_adapter
              - Downloaded rosidl_typesupport_interface
              - Downloaded rosidl_runtime_c
              - Downloaded rosidl_cmake
              - Downloaded rosidl_runtime_cpp (ignored)
              - Downloaded rosidl_cli
              - Downloaded rmw
              - Downloaded rmw_implementation_cmake
              - Downloaded action_msgs
              - Downloaded test_msgs
              - Downloaded builtin_interfaces
              - Downloaded statistics_msgs
              - Downloaded rosgraph_msgs
              - Downloaded rcl_interfaces
              - Downloaded composition_interfaces
              - Downloaded lifecycle_msgs
              - Downloaded rosidl_default_generators
              - Downloaded rosidl_default_runtime
              - Downloaded unique_identifier_msgs
              - Downloaded sensor_msgs
              - Downloaded geometry_msgs
              - Downloaded common_interfaces
              - Downloaded visualization_msgs
              - Downloaded std_msgs
              - Downloaded std_srvs
              - Downloaded trajectory_msgs
              - Downloaded shape_msgs
              - Downloaded sensor_msgs_py
              - Downloaded actionlib_msgs
              - Downloaded diagnostic_msgs
              - Downloaded stereo_msgs
              - Downloaded nav_msgs
              - Downloaded test_interface_files
              - Downloaded test_rmw_implementation
              - Downloaded rmw_implementation
              - Downloaded rcl_logging_noop
              - Downloaded rcl_logging_spdlog (ignored)
              - Downloaded rcl_logging_interface
              - Downloaded tracetools_test
              - Downloaded test_tracetools
              - Downloaded ros2trace
              - Downloaded tracetools_read
              - Downloaded tracetools_trace
              - Downloaded test_tracetools_launch
              - Downloaded tracetools
              - Downloaded tracetools_launch
              Checking extra packages
              - Adding fishbot_interfaces
              Building micro-ROS library
              Build mcu micro-ROS environment failed:
              --- stderr: rosidl_runtime_c
              CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
              Package 'rcutils' exports library 'dl' which couldn't be found
              Call Stack (most recent call first):
              /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
              CMakeLists.txt:15 (find_package)

            --- stderr: rcl_logging_interface
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            CMakeLists.txt:19 (find_package)

            --- stderr: rmw
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            CMakeLists.txt:21 (find_package)

            --- stderr: rcl_logging_noop
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/rcl_logging_interfaceConfig.cmake:41 (include)
            CMakeLists.txt:15 (find_package)

            --- stderr: rosidl_typesupport_microxrcedds_c
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
            CMakeLists.txt:22 (find_package)

            --- stderr: micro_ros_utilities
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_cConfig.cmake:41 (include)
            CMakeLists.txt:18 (find_package)

            --- stderr: rosidl_typesupport_c
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            CMakeLists.txt:33 (find_package)

            --- stderr: builtin_interfaces
            CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
            Package 'rcutils' exports library 'dl' which couldn't be found
            Call Stack (most recent call first):
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
            CMakeLists.txt:14 (find_package)

            CMake Error at /home/robot/ros2_humble/install/rosidl_typesupport_fastrtps_c/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:5 (find_package):
            Could not find a configuration file for package "fastcdr" that is
            compatible with requested version "".

            The following configuration files were considered but not accepted:

            /home/robot/ros2_humble/install/fastcdr/lib/cmake/fastcdr/fastcdr-config.cmake, version: 1.0.24 (64bit)

            Call Stack (most recent call first):
            /home/robot/ros2_humble/install/rosidl_typesupport_fastrtps_c/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
            /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
            CMakeLists.txt:14 (find_package)

            Failed <<< builtin_interfaces [1.95s, exited with code 1]

            ====================================================== [FAILED] Took 138.28 seconds ======================================================

            • The terminal process "platformio 'run'" terminated with exit code: 1.
            • Terminal will be reused by tasks, press any key to close it.

            编译报错的日志

            1 条回复 最后回复 回复 引用 0
            • R
              realez 年度VIP
              最后由 编辑

              换了台电脑，连到虚拟机上正常了
              但是物理机上的问题还希望可以解决

              小鱼小 R 2 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @realez
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                @realez 用我们编译好的固件呢

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

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                • R
                  realez 年度VIP @小鱼
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                  @小鱼 经过重新安装wsl，使用docker版本的micro ros agent依然不行，通过nc -lv -u等可以收到数据，但是docker仍然不行
                  重新编译micro ros agent，这个是可以的，现在可以控制小车了
                  然后测试雷达，在wsl和物理机上都没有/scan topic，都是使用的默认固件

                  [INFO] [ydlidar_node-2]: process has finished cleanly [pid 266]
                  #?

                  1. WIFI转串口测试
                  2. 驱动雷达
                  3. 建图测试
                  4. 退出
                    #? 2
                    [INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-07-06-46-24-224878-1ec9d1e7afc9-294
                    [INFO] [launch]: Default logging verbosity is set to INFO
                    [INFO] [tcp_server-1]: process started with pid [295]
                    [tcp_server-1] [INFO] [1741329984.813777499] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
                    [tcp_server-1] [INFO] [1741329984.814272171] [tcp_socket_server_node]: 等待接受连接..
                    [tcp_server-1] [INFO] [1741329984.819953389] [tcp_socket_server_node]: 来自('172.17.0.1', 52504)的连接已建立
                    [INFO] [ydlidar_node-2]: process started with pid [318]
                    [ydlidar_node-2] [INFO] [1741329988.189255796] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
                    [ydlidar_node-2]
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK initializing
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK has been initialized
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK Version: 1.2.9
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Connect elapsed time 0 ms
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar successfully connected [/tmp/tty_laser:115200]
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar running correctly! The health status good
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Current Lidar Model Code 12
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Check status, Elapsed time 0 ms
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar init success, Elapsed time [0]ms
                    [ydlidar_node-2] [2025-03-07 06:46:28][info] Start to getting intensity flag
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Auto set intensity 0
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] [YDLIDAR] End to getting intensity flag
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] [YDLIDAR] Create thread 0xD6F8F640
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Successed to start scan mode, Elapsed time 1748 ms
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:29][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Single Fixed Size: 440
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Successed to check the lidar, Elapsed time 541 ms
                    [ydlidar_node-2] [2025-03-07 06:46:30][info] Now lidar is scanning...
                    [ydlidar_node-2] [2025-03-07 06:46:48][error] Check Sum 0x6AEB != 0x7A6F
                    [ydlidar_node-2] [2025-03-07 06:46:58][error] Check Sum 0x6E44 != 0x6E98
                    [ydlidar_node-2] [2025-03-07 06:47:27][error] Check Sum 0x6C3F != 0x7CE0
                    [ydlidar_node-2] [2025-03-07 06:47:33][error] Check Sum 0xD455 != 0xC98D
                    [ydlidar_node-2] [2025-03-07 06:47:55][error] Check Sum 0x143C != 0x0B93
                    [ydlidar_node-2] [2025-03-07 06:48:43][error] Check Sum 0x6A2D != 0x6D12
                    [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
                    [ydlidar_node-2] [ERROR] [1741330125.710855634] [ydlidar_node]: Failed to get scan
                    [ydlidar_node-2] [2025-03-07 06:48:45][error] Timeout count: 1
                    [ydlidar_node-2] [2025-03-07 06:48:54][error] Check Sum 0x66F2 != 0x6021
                    [ydlidar_node-2] [2025-03-07 06:49:38][error] Check Sum 0x522B != 0x2A94
                    [ydlidar_node-2] [2025-03-07 06:50:20][error] Check Sum 0x6BE9 != 0x35
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                  • R
                    realez 年度VIP
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                    补充之前遇到的问题和处理方式
                    第一个wsl，ros2 node list无输出，未解决，放弃
                    安装第二个wsl，完全使用firshros安装，出现过ros2 node list卡住，重启daemon解决
                    物理机ros2 node list无输出，topic无输出，但是micro ros agent可以连接，可以控制小车

                    小鱼小 1 条回复 最后回复 回复 引用 0
                    • R
                      realez 年度VIP @realez
                      最后由 编辑

                      @realez 雷达的测试程序，有没有可执行程序而不是docker

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                      • R
                        realez 年度VIP
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                        在之前virtualbox的ubuntu虚拟机中，测试雷达可以，但是这个虚拟机很卡，做了很多调整还是不行
                        建图质量不好，数据丢的很多

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                        • 小鱼小
                          小鱼 技术大佬 @realez
                          最后由 编辑

                          @realez 雷达的测试程序，有没有可执行程序而不是docker 这个看视频教程或者数据9.5有介绍方法

                          wsl估计是网络穿透问题，我之前没有测试通过过

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

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