[FishBot教程] 6. 雷达驱动及建图测试

小鱼

@775405893 系统信息提供下：https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

小鱼

@775405893 雷达驱动意外挂了，重新运行下试试

775405893

@小鱼 ubuntu 24 ，ros2是jazzy版，虚拟机桥接，雷达连的电脑热点。重启了一下还是这个问题，雷达地址能ping通。

小鱼

@775405893 估计是版本问题，docker里面是22.04的，最好主机也用22.04，教程也是22.04的，还会有坑等着你。你那里有书吗，书上有源码驱动雷达的方法，只能用这个了，或者你需要等一段时间（半个月左右），我抽空时间来适配下24.04系统。

775405893

@小鱼好的谢谢，有书，我现在去翻一下

小鱼

@775405893 第九章，你找找

466413819

在ARM64架构下，ubuntu humble虚拟机
zhao@zhao-virtual-machine:~$ xhost + && sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 fishros2/fishbot_laser
access control disabled, clients can connect from any host
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
exec /bin/bash: exec format error
请问小鱼有没有解决办法，有没有类似 miroros agent 的离线解决方案？

小鱼

@466413819 arm架构下不支持这个镜像，需要按照

拓展1：FishBot配套雷达驱动教程（源码版）
拓展2：树莓派上使用micros-agent驱动主控板的方法
拓展3：FishBot 树莓派配置建图导航

1664486711

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1664486711

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1664486711

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279401783

@948287217 在 [FishBot教程] 6. 雷达驱动及建图测试中说：

@小鱼在 [FishBot教程] 6. 雷达驱动及建图测试中说：

ist，查看是否有scan话题。

找不到/scan的话题

我也是同样的问题没有scan 出来系统是ubuntu24.04 jazzy 版本，这个要怎么解决

小鱼

@279401783 大概要换系统，或者使用后面的源码方式使用

3120044269

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3120044269

请问这个是什么问题呀，出现下面这个错误，已知ping可以正常运行，雷达是转的，跳线帽也是对的，ip地址配置正确，处于RUN MODE模式

[ydlidar_node-2] [2024-12-22 15:13:32][error] Check Sum 0x4B26 != 0x74C6
[ydlidar_node-2] [2024-12-22 15:13:32][info] Scan Frequency: 5.00Hz
[ydlidar_node-2] [2024-12-22 15:13:32][info] Fixed Size: 720
[ydlidar_node-2] [2024-12-22 15:13:32][info] Sample Rate: 3.00K
[ydlidar_node-2] [2024-12-22 15:13:32][info] Scan Frequency: 5.00Hz
[ydlidar_node-2] [2024-12-22 15:13:32][info] Fixed Size: 720
[ydlidar_node-2] [2024-12-22 15:13:32][info] Sample Rate: 3.00K
[ydlidar_node-2] [2024-12-22 15:13:32][info] Single Fixed Size: 310
[ydlidar_node-2] [2024-12-22 15:13:32][info] Sample Rate: 3.00K
[ydlidar_node-2] [2024-12-22 15:13:32][info] Successed to check the lidar, Elapsed time 386 ms
[ydlidar_node-2] [2024-12-22 15:13:32][info] Now lidar is scanning...
[ydlidar_node-2] [2024-12-22 15:13:33][error] Check Sum 0x6C52 != 0x4370
[ydlidar_node-2] [2024-12-22 15:13:34][error] Check Sum 0x7CF6 != 0x5C74
[ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
[ydlidar_node-2] [ERROR] [1734880416.377512451] [ydlidar_node]: Failed to get scan
[ydlidar_node-2] [2024-12-22 15:13:36][error] Timeout count: 1
[ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_node-2] [ERROR] [1734880417.378154871] [ydlidar_node]: Failed to get scan
[ydlidar_node-2] [2024-12-22 15:13:37][error] Timeout count: 2
[ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_node-2] [ERROR] [1734880418.379028243] [ydlidar_node]: Failed to get scan
[ydlidar_node-2] [2024-12-22 15:13:38][error] Timeout count: 3
[ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_node-2] [ERROR] [1734880419.379892913] [ydlidar_node]: Failed to get scan

小鱼

@3120044269 把前面部分也截取一下

3120044269

@小鱼 [INFO] [launch]: All log files can be found below /root/.ros/log/2024-12-22-15-43-42-718761-ea6d2dcc0496-58
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tcp_server-1]: process started with pid [59]
[tcp_server-1] [INFO] [1734882223.432319749] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
[tcp_server-1] [INFO] [1734882223.432845278] [tcp_socket_server_node]: 等待接受连接..
[INFO] [ydlidar_node-2]: process started with pid [82]
[ydlidar_node-2] [INFO] [1734882226.288480684] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-2]
[ydlidar_node-2] [2024-12-22 15:43:46][info] SDK initializing
[ydlidar_node-2] [2024-12-22 15:43:46][info] SDK has been initialized
[ydlidar_node-2] [2024-12-22 15:43:46][info] SDK Version: 1.2.9
[ydlidar_node-2] [2024-12-22 15:43:46][info] Connect elapsed time 0 ms
[ydlidar_node-2] [2024-12-22 15:43:46][info] Lidar successfully connected [/tmp/tty_laser:115200]
[ydlidar_node-2] [2024-12-22 15:43:46][info] Lidar running correctly! The health status good
[ydlidar_node-2] [2024-12-22 15:43:46][info] Current Lidar Model Code 12
[ydlidar_node-2] [2024-12-22 15:43:46][info] Check status, Elapsed time 0 ms
[ydlidar_node-2] [2024-12-22 15:43:46][info] Lidar init success, Elapsed time [1]ms
[ydlidar_node-2] [2024-12-22 15:43:46][info] Start to getting intensity flag
[ydlidar_node-2] [2024-12-22 15:43:49][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-2] [2024-12-22 15:43:49][info] [YDLIDAR] Create thread 0xF7E00640
[ydlidar_node-2] [2024-12-22 15:43:49][info] Successed to start scan mode, Elapsed time 3564 ms

小鱼

@3120044269 在 [FishBot教程] 6. 雷达驱动及建图测试中说：

tcp_server-1] [INFO] [1734882223.432319749] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
[tcp_server-1] [INFO] [1734882223.432845278] [tcp_socket_server_node]: 等待接受连接..

应该是没有连接成功，emm，方便加一下我微信吗

3120044269

@小鱼好的，怎么加呀

小鱼

@3120044269 公众号下方有二维码