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    雷神m10雷达humble安装遇到问题，编译通过了，运行还是报错，大佬们给看一下

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      截图 2022-10-13 16-10-04.png

      截图 2022-10-13 16-16-32.png

      CMakeLists.txt

      cmake_minimum_required(VERSION 3.5)

project(lsm10_v2)

# Default to C++14
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()


find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)

find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
#find_package(dynamic_reconfigure REQUIRED)
find_package(lsm10_v2 REQUIRED)
find_package(Boost 1.65.1 REQUIRED COMPONENTS system filesystem thread)
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Difop.msg"
  DEPENDENCIES std_msgs
  ADD_LINTER_TESTS
)

include_directories(
  include
  src
  ${catkin_INCLUDE_DIRS}
  ${Eigen3_INCLUDE_DIRS} 
)

ament_export_dependencies(rosidl_default_runtime)

add_executable(LSM10 src/lsiosr.cpp src/lsm10.cpp)

include_directories(LSM10 ${Boost_INCLUDE_DIRS})
link_directories(LSM10 ${Boost_LIBRARY_DIRS})
target_link_libraries(LSM10 ${Boost_LIBRARIES})

ament_target_dependencies(LSM10 rclcpp rclpy  std_msgs  sensor_msgs lsm10_v2 Boost)



target_link_libraries(LSM10 ${Boost_PROGRAM_OPTIONS_LIBRARY})

install(TARGETS
  LSM10
  DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY launch 
  DESTINATION share/${PROJECT_NAME}
)


ament_package()

      package.xml

      <?xml version="1.0"?>
<package format="3">
  <name>lsm10_v2</name>
  <version>0.0.0</version>
  <description>The lsm10_v2 package--wheeltec@dongguan</description>
  <maintainer email="powrbv@gmail.com">tongsky</maintainer>
  <license>TODO</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
  <test_depend>eigen</test_depend>
  <test_depend>boost</test_depend>
  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <build_depend>dynamic_reconfigure</build_depend>
  <exec_depend>dynamic_reconfigure</exec_depend>

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

  <depend>rclcpp</depend>
  <depend>rclpy</depend>
  <depend>sensor_msgs</depend>
  <depend>std_msgs</depend>
  <depend>tf</depend>
  <depend>tf2</depend>
  
  <member_of_group>rosidl_interface_packages</member_of_group>
  <export>
    <build_type>ament_cmake</build_type>
  </export>

</package>

      lsiosr.h

      /*************************************************************************************
@company: Copyright (C) 2021, Leishen Intelligent System, WHEELTEC (Dongguan) Co., Ltd
@product: LSn10
@filename: lsiosr.cpp
@brief:
@version:       date:       author:            comments:
@v2.0           22-4-12      yao,Tues          ROS2
*************************************************************************************/
#ifndef LSIOSR_H
#define LSIOSR_H

#include <memory>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <fstream>
#include <iostream>

//波特率
#define     BAUD_2400       2400
#define     BAUD_4800       4800
#define     BAUD_9600       9600
#define     BAUD_57600     	57600
#define     BAUD_115200     115200
#define	    BAUD_230400	    230400
#define     BAUD_460800     460800

//奇偶校验位
#define     PARITY_ODD    	'O' //奇数
#define     PARITY_EVEN   	'E' //偶数
#define     PARITY_NONE   	'N' //无奇偶校验位

//停止位
#define     STOP_BIT_1     	1
#define     STOP_BIT_2     	2

//数据位
#define     DATA_BIT_7     	7
#define     DATA_BIT_8     	8

namespace ls
{
class LSIOSR{
public:
  static LSIOSR* instance(std::string name, int speed, int fd = 0);

  ~LSIOSR();

  /* 从串口中读取数据 */
  int read(char *buffer, int length, int timeout = 60);

  /* 向串口传数据 */
  int send(const char* buffer, int length, int timeout = 60);

  /* Empty serial port input buffer */
  void flushinput();

  /* 串口初始化 */
  int init();

  int close();

  /* 获取串口号 */
  std::string getPort();

  /* 设置串口号 */
  int setPortName(std::string name);

private:
  LSIOSR(std::string name, int speed, int fd);

  int waitWritable(int millis);
  int waitReadable(int millis);

  /* 串口配置的函数 */
  int setOpt(int nBits, uint8_t nEvent, int nStop);

  std::string port_;
  int baud_rate_;

  int fd_;
};
}
#endif

      lsm10.h

      /*************************************************************************************
@company: Copyright (C) 2021, Leishen Intelligent System, WHEELTEC (Dongguan) Co., Ltd
@product: LSM10
@filename: lsm10.h
@brief:
@version:       date:       author:            comments:
@v2.0           22-4-12      fu,Tues          ROS2
*************************************************************************************/
#ifndef LSM10_H
#define LSM10_H
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread/thread.hpp>
#include <iostream>
#include <memory>
#include <inttypes.h>
#include <rcl/types.h>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include <sensor_msgs/msg/laser_scan.hpp>
#include "lsm10_v2/lsiosr.h"
#include "lsm10_v2/msg/difop.hpp" 

namespace ls {

typedef struct {
    double degree;
    double range;
    double intensity;
} ScanPoint;

class LSM10 : public rclcpp::Node
{
public: 
  LSM10();
  ~LSM10();
    /**
    * 实例化雷达
    * port: 串口号，
    * baud_rate: 波特率 460800
    */
    static LSM10* instance();

    /**
    * 获取雷达数据
    * poins: 雷达点的数据。类型为ScanPoint数组
    */
    int getScan(std::vector<ScanPoint> &points, rclcpp::Time & scan_time, float &scan_duration);

    /**
    * 获取软件版本号
    * version: 返回版本号
    */
    int getVersion(std::string &version);

    int getRate();

    double getRPM();
	
  private:
    void initParam();
    void recvThread();
    void pubScanThread();
    void thread_tmp();
    
    std::vector<ScanPoint> scan_points_;
    std::vector<ScanPoint> scan_points_bak_;

    LSIOSR * serial_;
    boost::thread *recv_thread_;
    boost::thread *pubscan_thread_;
    std::unique_ptr<boost::thread> test_thread_;
    std::unique_ptr<boost::thread> testscan_thread_;
    boost::mutex pubscan_mutex_;
    boost::mutex mutex_;
    boost::condition_variable pubscan_cond_;

    bool is_shutdown_;    // shutdown recvthread
    int data_len_;
    int points_size_;
    int rpm_;
    double real_rpm_;
	
    //ros::Time pre_time_;
    //ros::Time time_;
    rclcpp::Time pre_time_;
    rclcpp::Time time_;


    std::string serial_port_;
    int baud_rate_;
    std::string scan_topic_;
    std::string frame_id_;


    //ros::NodeHandle n_;  
    //ros::Publisher pub_;
    rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr pub_;
    //ros::Publisher device_pub;
	  rclcpp::Publisher<lsm10_v2::msg::Difop>::SharedPtr device_pub;

};

}
#endif

      lsiosr.cpp

      
/*************************************************************************************
@company: Copyright (C) 2021, Leishen Intelligent System, WHEELTEC (Dongguan) Co., Ltd
@product: LSM10
@filename: lsiosr.cpp
@brief:
@version:       date:       author:            comments:
@v2.0           22-4-12      yao,Tues          ROS2
*************************************************************************************/
#include <lsm10_v2/lsiosr.h>
using namespace std;
//rclcpp::Node::SharedPtr nh_=nullptr;

namespace ls {

LSIOSR * LSIOSR::instance(std::string name, int speed, int fd)
{
 // printf("jieru\n");
  static LSIOSR obj(name, speed, fd);
  return &obj;
}

LSIOSR::LSIOSR(std::string port, int baud_rate, int fd):port_(port), baud_rate_(baud_rate), fd_(fd)
{
  printf("port = %s, baud_rate = %d\n", port.c_str(), baud_rate);
}

LSIOSR::~LSIOSR()
{
  close();
}
/* 串口配置的函数 */
int LSIOSR::setOpt(int nBits, uint8_t nEvent, int nStop)
{
  struct termios newtio, oldtio;
  /*保存测试现有串口参数设置，在这里如果串口号等出错，会有相关的出错信息*/
  if (tcgetattr(fd_, &oldtio) != 0)
  {
    perror("SetupSerial 1");
    return -1;
  }
  bzero(&newtio, sizeof(newtio));
  /*步骤一，设置字符大小*/
  newtio.c_cflag |= CLOCAL;   //如果设置，modem 的控制线将会被忽略。如果没有设置，则 open()函数会阻塞直到载波检测线宣告 modem 处于摘机状态为止。
  newtio.c_cflag |= CREAD;    //使端口能读取输入的数据
  /*设置每个数据的位数*/
  switch (nBits)
  {
  case 7:
    newtio.c_cflag |= CS7;
    break;
  case 8:
    newtio.c_cflag |= CS8;
    break;
  }
  /*设置奇偶校验位*/
  switch (nEvent)
  {
  case 'O': //奇数
    newtio.c_iflag |= (INPCK | ISTRIP);
    newtio.c_cflag |= PARENB;   //使能校验，如果不设PARODD则是偶校验
    newtio.c_cflag |= PARODD;   //奇校验
    break;
  case 'E': //偶数
    newtio.c_iflag |= (INPCK | ISTRIP);
    newtio.c_cflag |= PARENB;
    newtio.c_cflag &= ~PARODD;
    break;
  case 'N':  //无奇偶校验位
    newtio.c_cflag &= ~PARENB;
    break;
  }
  /*设置波特率*/
  switch (baud_rate_)
  {
  case 2400:
    cfsetispeed(&newtio, B2400);
    cfsetospeed(&newtio, B2400);
    break;
  case 4800:
    cfsetispeed(&newtio, B4800);
    cfsetospeed(&newtio, B4800);
    break;
  case 9600:
    cfsetispeed(&newtio, B9600);
    cfsetospeed(&newtio, B9600);
    break;
  case 115200:
    cfsetispeed(&newtio, B115200);
    cfsetospeed(&newtio, B115200);
    break;
  case 230400:
    cfsetispeed(&newtio, B230400);
    cfsetospeed(&newtio, B230400);
    break;
  case 460800:
    cfsetispeed(&newtio, B460800);
    cfsetospeed(&newtio, B460800);
    break;
  default:
    cfsetispeed(&newtio, B9600);
    cfsetospeed(&newtio, B9600);
    break;
  }

  /*
   * 设置停止位
   * 设置停止位的位数， 如果设置，则会在每帧后产生两个停止位， 如果没有设置，则产生一个
   * 停止位。一般都是使用一位停止位。需要两位停止位的设备已过时了。
   * */
  if (nStop == 1)
    newtio.c_cflag &= ~CSTOPB;
  else if (nStop == 2)
    newtio.c_cflag |= CSTOPB;
  /*设置等待时间和最小接收字符*/
  newtio.c_cc[VTIME] = 0;
  newtio.c_cc[VMIN] = 0;
  /*处理未接收字符*/
  tcflush(fd_, TCIFLUSH);
  /*激活新配置*/
  if ((tcsetattr(fd_, TCSANOW, &newtio)) != 0)
  {
    perror("serial set error");
    return -1;
  }

  return 0;
}

void LSIOSR::flushinput() {
  tcflush(fd_, TCIFLUSH);
}

/* 从串口中读取数据 */
int LSIOSR::read(char *buffer, int length, int timeout)
{
  //printf("portread \n");
  memset(buffer, 0, length);

  int totalBytesRead = 0;
  int rc;
  int unlink = 0;
  char* pb = buffer;

  if (timeout > 0)
  {
    rc = waitReadable(timeout);
    if (rc <= 0)
    {
      return (rc == 0) ? 0 : -1;
    }

    int	retry = 3;
    while (length > 0)
    {
      rc = ::read(fd_, pb, (size_t)length);

      if (rc > 0)
      {		
        length -= rc;
        pb += rc;
        totalBytesRead += rc;

        if (length == 0)
        {
          break;
        }
      }
      else if (rc < 0)
      {
        printf("error \n");
        retry--;
        if (retry <= 0)
        {
          break;
        }
      }
	  unlink++;
      rc = waitReadable(20);
	  if(unlink > 10)
		  return -1;
	  
      if (rc <= 0)
      {
        break;
      }
    }
  }
  else
  {
    rc = ::read(fd_, pb, (size_t)length);

    if (rc > 0)
    {
      totalBytesRead += rc;
    }
    else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN))
    {
      printf("read error\n");
      return -1;
    }
  }

  return totalBytesRead;
}

int LSIOSR::waitReadable(int millis)
{
  if (fd_ < 0)
  {
    return -1;
  }
  int serial = fd_;
  
  fd_set fdset;
  struct timeval tv;
  int rc = 0;
  
  while (millis > 0)
  {
    if (millis < 5000)
    {
      tv.tv_usec = millis % 1000 * 1000;
      tv.tv_sec  = millis / 1000;

      millis = 0;
    }
    else
    {
      tv.tv_usec = 0;
      tv.tv_sec  = 5;

      millis -= 5000;
    }

    FD_ZERO(&fdset);
    FD_SET(serial, &fdset);
    
    rc = select(serial + 1, &fdset, NULL, NULL, &tv);
    if (rc > 0)
    {
      rc = (FD_ISSET(serial, &fdset)) ? 1 : -1;
      break;
    }
    else if (rc < 0)
    {
      rc = -1;
      break;
    }
  }

  return rc;
}


int LSIOSR::waitWritable(int millis)
{
  if (fd_ < 0)
  {
    return -1;
  }
  int serial = fd_;

  fd_set fdset;
  struct timeval tv;
  int rc = 0;

  while (millis > 0)
  {
    if (millis < 5000)
    {
      tv.tv_usec = millis % 1000 * 1000;
      tv.tv_sec  = millis / 1000;

      millis = 0;
    }
    else
    {
      tv.tv_usec = 0;
      tv.tv_sec  = 5;

      millis -= 5000;
    }

    FD_ZERO(&fdset);
    FD_SET(serial, &fdset);

    rc = select(serial + 1, NULL, &fdset, NULL, &tv);
    if (rc > 0)
    {
      rc = (FD_ISSET(serial, &fdset)) ? 1 : -1;
      break;
    }
    else if (rc < 0)
    {
      rc = -1;
      break;
    }
  }

  return rc;
}

/* 向串口中发送数据 */
int LSIOSR::send(const char* buffer, int length, int timeout)
{
  if (fd_ < 0)
  {
    return -1;
  }

  if ((buffer == 0) || (length <= 0))
  {
    return -1;
  }

  int	totalBytesWrite = 0;
  int rc;
  char* pb = (char*)buffer;


  if (timeout > 0)
  {
    rc = waitWritable(timeout);
    if (rc <= 0)
    {
      return (rc == 0) ? 0 : -1;
    }

    int	retry = 3;
    while (length > 0)
    {
      rc = write(fd_, pb, (size_t)length);
      if (rc > 0)
      {
        length -= rc;
        pb += rc;
        totalBytesWrite += rc;

        if (length == 0)
        {
          break;
        }
      }
      else
      {
        retry--;
        if (retry <= 0)
        {
          break;
        }
      }

      rc = waitWritable(50);
      if (rc <= 0)
      {
        break;
      }
    }
  }
  else
  {
    rc = write(fd_, pb, (size_t)length);
    if (rc > 0)
    {
      totalBytesWrite += rc;
    }
    else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN))
    {
      return -1;
    }
  }

  return totalBytesWrite;
}

int LSIOSR::init()
{
	int error_code = 0;
		
	fd_ = open(port_.c_str(), O_RDWR|O_NOCTTY|O_NDELAY);
	if (0 < fd_)
	{
		error_code = 0;
		setOpt(DATA_BIT_8, PARITY_NONE, STOP_BIT_1);//设置串口参数
		printf("open_port %s  OK !\n", port_.c_str());
	}
	else
	{
		error_code = -1;
		printf("open_port %s ERROR !\n", port_.c_str());
	}
	printf("LSM10::Init\n");

	return error_code;
}

int LSIOSR::close()
{
  ::close(fd_);
}

std::string LSIOSR::getPort()
{
  return port_;
}

int LSIOSR::setPortName(std::string name)
{
  port_ = name;
  return 0;
}

}

      lsm10.cpp

      /*************************************************************************************
@company: Copyright (C) 2021, Leishen Intelligent System, WHEELTEC (Dongguan) Co., Ltd
@product: LSM10
@filename: lsm10.cpp
@brief:
@version:       date:       author:            comments:
@v2.0           22-4-12      yao,Tues          ROS2
*************************************************************************************/
#include "lsm10_v2/lsm10.h"
#include <stdio.h>
#include <signal.h>
#include "lsm10_v2/msg/difop.hpp" 
using std::placeholders::_1;
using namespace std;
rclcpp::Node::SharedPtr nh_=nullptr;
namespace ls{
LSM10 * LSM10::instance()
{
  static LSM10 obj;
  return &obj;
}

LSM10::LSM10():rclcpp::Node ("m10lidar")
{
  int code = 0;
  initParam();
  pub_ = create_publisher<sensor_msgs::msg::LaserScan>("scan", 3);
  device_pub = create_publisher<lsm10_v2::msg::Difop>("difop_information", 100);
  serial_ = LSIOSR::instance("/dev/wheeltec_lidar", 460800);
  code = serial_->init();
  if(code != 0)
  {
    RCLCPP_INFO(this->get_logger(),"rclcpp is down.");
	  rclcpp::shutdown();
	  exit(0);
  }

  recv_thread_ = new boost::thread(boost::bind(&LSM10::recvThread, this));
  //test_thread_.reset( new boost::thread(boost::bind(&LSM10::recvThread, this)));
  
 // testscan_thread_.reset( new boost::thread(boost::bind(&LSM10::pubScanThread, this)));

   pubscan_thread_ = new boost::thread(boost::bind(&LSM10::pubScanThread, this));

}

LSM10::~LSM10()
{
  printf("start LSM10::~LSM10()\n");

  is_shutdown_ = true;
/*
  test_thread_->interrupt();
  test_thread_->join();
  
  test_thread_ = NULL;
  //delete pubscan_thread_;
  testscan_thread_->interrupt();
  testscan_thread_->join();
  
  testscan_thread_ = NULL;
  //delete pubscan_thread_;
  */
  pubscan_thread_->interrupt();
  pubscan_thread_->join();
  //printf("1end LSM10::~LSM1000()\n");

  pubscan_thread_ = NULL;
  delete pubscan_thread_;
  //printf("2end LSM10::~LSM1000()\n");

  recv_thread_->interrupt();
  recv_thread_->join();
  //printf("3end LSM10::~LSM1000()\n");

  recv_thread_ = NULL;
  delete recv_thread_;
  //printf("4end LSM10::~LSM1000()\n");

  serial_->close();
  serial_ = NULL;
  delete serial_;
  printf("end LSM10::~LSM10()\n");
}
void LSM10::thread_tmp()
{
  int test_rmp=0;

  printf("test thread\n");

}
void LSM10::initParam()
{
  pre_time_ = rclcpp::Node::now();
  time_ = rclcpp::Node::now();
  std::string scan_topic_ = "/scan";
  std::string frame_id_ = "laser";
  std::string serial_port_ = "/dev/wheeltec_lidar";
  
  this->declare_parameter<std::string>("scan_topic", scan_topic_);
  this->get_parameter<std::string>("scan", scan_topic_);

  this->declare_parameter<std::string>("laser", "laser");
  this->get_parameter<std::string>("laser", frame_id_);

  this->declare_parameter<std::string>("serial_port", "/dev/wheeltec_lidar");
  this->get_parameter<std::string>("serial_port", serial_port_);

  this->declare_parameter<int>("baud_rate", 406800);
  this->get_parameter<int>("baud_rate", baud_rate_);

  this->declare_parameter<int>("rpm", 600);
  this->get_parameter<int>("rpm", rpm_); 
  
  is_shutdown_ = false;

  data_len_ = 180;
  points_size_ = 360 * 42 / 15;
  scan_points_.resize(points_size_);
}

int LSM10::getScan(std::vector<ScanPoint> &points, rclcpp::Time & scan_time, float &scan_duration)
{
  boost::unique_lock<boost::mutex> lock(mutex_);
  points.assign(scan_points_bak_.begin(), scan_points_bak_.end());
  scan_time = pre_time_;
  scan_duration = (time_ - pre_time_).seconds();
}

int LSM10::getVersion(std::string &version)
{
  version = "lsm10_v1_0";
  return 0;
}

double LSM10::getRPM()
{
  return real_rpm_;
}

void LSM10::recvThread()
{
  char * packet_bytes = new char[data_len_];
  int idx = 0;
  double degree;
  
  boost::posix_time::ptime t1,t2;
  t1 = boost::posix_time::microsec_clock::universal_time();
  //printf("rec\n");
  while(!is_shutdown_&&rclcpp::ok()){
	int count = serial_->read(packet_bytes, 90);
  //printf("rec2\n");

	for (int i = 0; i < count; i++)
	{
		int k = packet_bytes[i];
		k < 0 ? k += 256 : k;
		int y = packet_bytes[i + 1];
		y < 0 ? y += 256 : y;

		int k_1 = packet_bytes[i + 2];
		k_1 < 0 ? k_1 += 256 : k_1;
		int y_1 = packet_bytes[i + 3];
		y_1 < 0 ? y_1 += 256 : y_1;
		
		if (k == 0xA5 && y == 0x5A)					 //应答距离
		{

			if(i != 0)
			{
				serial_->read(packet_bytes + 90 - i, i);
			}
			
			int s = packet_bytes[i + 2];
			s < 0 ? s += 256 : s;
			int z = packet_bytes[i + 3];
			z < 0 ? z += 256 : z;
			
			boost::unique_lock<boost::mutex> lock(mutex_);

			//if ((s * 256 + z) / 100.f > 360)
			//	degree = 0;
			//else
			degree = (s * 256 + z) / 100.f;
			//转速
			lsm10_v2::msg::Difop Difop_data;
			s = packet_bytes[i + 4];
			s < 0 ? s += 256 : s;
			z = packet_bytes[i + 5];
			z < 0 ? z += 256 : z;
			
			Difop_data.motorspeed = float(2500000.0 / (s * 256 + z));
			
			device_pub->publish(Difop_data);

			int invalidValue = 0;
			for (size_t num = 2; num < 86; num+=2)
			{
				int s = packet_bytes[i + num + 4];
				s < 0 ? s += 256 : s;
				int z = packet_bytes[i + num + 5];
				z < 0 ? z += 256 : z;
				
				if ((s * 256 + z) != 0xFFFF)
				{
					scan_points_[idx].range = double(s * 256 + (z)) / 1000.f;
					scan_points_[idx].intensity = 0;
					idx++;
				}
				else
				{
					invalidValue++;
				}
			}

			invalidValue = 42 - invalidValue;

			for (size_t i = 0; i < invalidValue; i++)
			{
				if ((degree + (15.0 / invalidValue * i)) > 360)
					scan_points_[idx-invalidValue+i].degree = degree + (15.0 / invalidValue * i) - 360;
				else
					scan_points_[idx-invalidValue+i].degree = degree + (15.0 / invalidValue * i);
			}
			
			lock.unlock();

			if (degree > 359.5) 
			{
				idx = 0;
				t2 = boost::posix_time::microsec_clock::universal_time();
				boost::posix_time::millisec_posix_time_system_config::time_duration_type t_elapse;
				t_elapse = t2 - t1;
				real_rpm_ = 1000000.0 / t_elapse.ticks();
				t1 = t2;

				boost::unique_lock<boost::mutex> lock(mutex_);
				scan_points_bak_.resize(scan_points_.size());
				scan_points_bak_.assign(scan_points_.begin(), scan_points_.end());
				for(int k=0; k<scan_points_.size(); k++)
				{
					scan_points_[k].range = 0;
					scan_points_[k].degree = 0;
				}
				pre_time_ = time_;
				lock.unlock();
				pubscan_cond_.notify_one();
				time_ = this->now();
			}
			
		}	
		else if (k == 0xA5 && y == 0xFF && k_1 == 00 && y_1 == 0x5A)
		{
			printf("elseif");
			/*lsm10_v2::difopPtr Difop_data = lsm10_v2::difopPtr(
						new lsm10_v2::difop());
 
			//温度
			int s = packet_bytes[i + 12];
			s < 0 ? s += 256 : s;
			int z = packet_bytes[i + 13];
			z < 0 ? z += 256 : z;
			Difop_data->Temperature = (float(s * 256 + z) / 4096 * 330 - 50);

			//高压
			s = packet_bytes[i + 14];
			s < 0 ? s += 256 : s;
			z = packet_bytes[i + 15];
			z < 0 ? z += 256 : z;
			Difop_data->HighPressure = (float(s * 256 + z) / 4096 * 3.3 * 101);

			//转速
			s = packet_bytes[i + 16];
			s < 0 ? s += 256 : s;
			z = packet_bytes[i + 17];
			z < 0 ? z += 256 : z;
			Difop_data->MotorSpeed = (float(1000000 / (s * 256 + z) / 24));
			
			device_pub.publish(Difop_data);*/
		}
	}
  }
  if (packet_bytes)
  {
    packet_bytes = NULL;
    delete packet_bytes;
  }
}

void LSM10::pubScanThread()
{

  //printf("pubscan0");

  bool wait_for_wake = true;
  boost::unique_lock<boost::mutex> lock(pubscan_mutex_);

  while (!is_shutdown_&&rclcpp::ok())
  {
    while (wait_for_wake)
    {
      pubscan_cond_.wait(lock);
      wait_for_wake = false;
    }
     //printf("pubscan1");
    std::vector<ScanPoint> points;
    rclcpp::Time start_time;
    float scan_time;
    this->getScan(points, start_time, scan_time);
    int count = points.size();
    if (count <= 0)
      continue;

    sensor_msgs::msg::LaserScan msg;
    msg.header.frame_id = "laser";
    msg.header.stamp = start_time;
    msg.angle_min = 0.0;
    msg.angle_max = 2 * M_PI;
    msg.angle_increment = (msg.angle_max - msg.angle_min) / count;
    msg.range_min = 0.02;
    msg.range_max = 50;
    msg.ranges.resize(count);
    msg.intensities.resize(count);
    msg.scan_time = scan_time;
    msg.time_increment = scan_time / (double)(count - 1);
	
	for(int k=0; k<count; k++)
	{
		msg.ranges[k] = std::numeric_limits<float>::infinity();
        msg.intensities[k] = 0;
	}
	
	for (int i = 0; i < count; i++) {
		int point_idx = 1008 - points[i].degree * 42 / 15;

		if(point_idx < 0 || point_idx > 1007) 
		{
			continue;
		}

      if (points[i].range == 0.0) {
        msg.ranges[point_idx] = std::numeric_limits<float>::infinity();
        msg.intensities[point_idx] = 0;
     // printf("pubscan2");
      }
      else {
        double dist = points[i].range;
        msg.ranges[point_idx] = (float) dist;
        msg.intensities[point_idx] = points[i].intensity;
     // printf("pubscan3");
      }
    }
    pub_->publish(msg);
     // printf("pubscan4");
    wait_for_wake = true;
  } 
}
}

void handleSig(int signo)
{
  rclcpp::shutdown();
  exit(0);
}

int main(int argc, char *argv[])
{
  rclcpp::init(argc, argv);
  signal(SIGINT, handleSig);
  signal(SIGTERM, handleSig);
  ls::LSM10* lsm10 = ls::LSM10::instance();
  //auto node=std::make_shared<ls::LSM10>();
  auto node = rclcpp::Node::make_shared("lidar10");
  rclcpp::spin(node);
  return 0;
}

      ls_m10.launch.py

      #!/usr/bin/env python3
'''
@company: Copyright (C) 2022, WHEELTEC (Dongguan) Co., Ltd
@product: LSM10
@filename: ls_m10.launch.py
@brief:
@version:       date:       author:            comments:
@v2.0           22-4-12      Tues          ROS2

'''
import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import LogInfo
from launch.substitutions import LaunchConfiguration
import launch_ros.actions


def generate_launch_description():
    frequency = LaunchConfiguration('frequency', default='5.5')
    serial_port_ = LaunchConfiguration('port', default='/dev/wheeltec_lidar')
    baud_rate_ = LaunchConfiguration('baud_rate_', default='460800')
    frame_id_ = LaunchConfiguration('frame_id', default='laser_link')
    scan_topic = LaunchConfiguration('scan_topic', default='scan')

    return LaunchDescription([

        DeclareLaunchArgument('serial_port_', default_value=serial_port_,
            description='Specifying port to connected lidar'),
            
        DeclareLaunchArgument('baud_rate_', default_value=baud_rate_,
            description='Specifying serial baudrate to connected lidar'),
            
        DeclareLaunchArgument('frame_id_', default_value=frame_id_,
            description='Specifying frame_id of lidar. Default frame_id is \'laser\''),

            
        DeclareLaunchArgument('frequency', default_value=frequency,
            description='Specifying frequency property of lidar'),
            
        DeclareLaunchArgument('scan_topic', default_value=scan_topic,
            description='Specifying scan_topic property of lidar'),

        launch_ros.actions.Node(
            package='lsm10_v2',
            executable='LSM10',
            output='screen'),
    ])

      雷达的代码都在这里了，以前在ros2 foxy版本编译好了就行，现在在foxy编译报错
      2022-10-13 01-38-20 的屏幕截图.png
      一开始humble版本编译也报同样的错误，不知道为什么后来编译不报错了，但是运行还是报错
      截图 2022-10-13 16-10-04.png

      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 @毛哥成山轮胎机油保养
        最后由 编辑

        @毛哥成山轮胎机油保养 在 雷神m10雷达humble安装遇到问题，编译通过了，运行还是报错，大佬们给看一下 中说：

        install(TARGETS
        LSM10
        DESTINATION lib/${PROJECT_NAME}
        )

        检查下报错目录中是否存在可执行文件， /home/m/jtbot_ws/install/lsm10_v2/lib/lsm10_v2

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

        毛哥成山轮胎机油保养毛 1 条回复 最后回复 回复 引用 0
        • 毛哥成山轮胎机油保养毛
          毛哥成山轮胎机油保养 活跃VIP @小鱼
          最后由 编辑

          @小鱼 当时我看了，确实没有可执行文件，但是原来这个驱动在foxy运行是正常的，这次装完系统我特意装了一个foxy虚拟机，在foxy上试了也不行，说明有些东西升级了，原来的东西不配套了。雷达售后给我又发了一个驱动，安装成功了，我把原来的humble 卸载了用一键装ros又装了一遍，没有问题，说明你的一键装ros也是正常的。

          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 @毛哥成山轮胎机油保养
            最后由 编辑

            @毛哥成山轮胎机油保养 👍

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

            1 条回复 最后回复 回复 引用 0
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