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    [FishBot教程] 6. 雷达驱动及建图测试

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    • 小鱼小
      小鱼 技术大佬 @anzg512
      最后由 编辑

      @anzg512 参考这个视频看一下， FishBot常见问题汇总:
      链接：https://pan.baidu.com/s/14NKr0QLTnlWwcbUg97IFBQ?pwd=fish

      小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
      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
      • 23520949922
        小皮
        最后由 编辑

        博主您好，我可以ping通我的雷达，但是在第一步启动驱动的时候一直停留在 prepare to accept connect。这是为啥呢，好奇怪？烦请大佬指点一二！3a2ce694aad37bf97994af4e960e468.jpg

        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 @2352094992
          最后由 编辑

          @2352094992 检查雷达连接，跳线帽，工作模式

          小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
          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
          • 2
            flyingPig
            最后由 2216096692 编辑

            雷达已上路由

            PING 192.168.1.103
(192.168.1.103) 56(84) bytes of data.
64 bytes from 192.168.1.103: icmp_seq=1 ttl=255 time=5.76 ms
64 bytes from 192.168.1.103: icmp_seq=2 ttl=255 tinme=23.9 ms
64 bytes from 192.168.1.103: icmp_seq=3 ttl=255 time=4.62 ms
64 bytes from 192.168.1.103: icmp_seq=4 ttl=255 timie=8.08
64 bytes from 192.168.1.103: icmp_seq=5 ttl=255 time=9.46 ms
64 bytes from 192.168.1.103: icmp_seq=6 ttl=255 time=13.2 ms
64 bytes from 192.168.1.103: icmp_seq=7 ttl=255 time=5.02 ms
ms

            20240326-125207.jpg

            Now YDLIDAR is scanning
            等5 -10 分钟左右，出 timout count

            欢迎鱼香ROS使用雷达驱动系统,注意当前版本为ROS2版本驱动功哦
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=SocketK
, proto=0, laddr=('172.17.0.3', 8888), raddr=(
PTY: Opened /dev/pts/7 for 0.0.0.0:8888
192.168.1.103', 49
[YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[YDLIDAR] :SDK Version: 1.4.5
[YDLIDAR]:Lidar running correctly ! The health statuus: good
[YDLIDAR] Connection established in [/tmp/fishbot_laser][[115200] :
Firmware version: 1.5
Hardware version: 1
Model: S4
Serial: 2021042500000085
[YDLIDAR]:Fixed Size: 410
[YDLIDAR]:Sample Rate: 3K
[YDLIDAR INFO] Current Sampling Rate : 3K
[YDLIDAR INFO]
Now YDLIDAR is scanning
[ERROR] [1711427477.710755044] [ydlidar_node]: Failed to getscan
timout count: 1

            20240326-125317.jpg

            但是，选 2 测试，又能扫出东西来，虽然有报错

            [rviz2-5] [ERROR] [1711427701.753874806] [rviz2]: Lobookup would require extrapolation into the future.Requ
Tested time 1711427701.869087 but the latest datais at time 1711427701.869087, when looking up transform fin
om frame [laser_frame] to frame [map]

            20240326-125440.jpg

            list 有 scan 的会话，但是无效的

            fp-macpro@fpmacpro-MacBookPro:~$ ros2 topic list
/parameter_events
/rosout
/scan
fp-macpro@fpmacpro-MacBookPro:~$ ros2 topic hz /scan
WARNING: topic [/scan] does not appear to be published yet

            20240326-125504.jpg

            请问啥问题？和 帖子里说的 timout count: 1 的原因好像不一样啊？
            @小鱼

            26932262522 小鱼小 2 条回复 最后回复 回复 引用 0
            • 26932262522
              命里有我 @2216096692
              最后由 编辑

              @2216096692 我和你有一样的问题呜呜呜

              1 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @2216096692
                最后由 编辑

                @2216096692 偶尔出一个timeout没事，能建图就说明数据没啥问题，另外驱动过后，需要开新的终端测试，看你的图好像退出后再用hz查看，但驱动已经退出了，肯定没有数据

                小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                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
                • 5152617255
                  空无之时
                  最后由 编辑

                  保存地图出错
                  /opt/ros/humble/lib/nav2_map_server/map_saver_cli: symbol lookup error: /opt/ros/humble/lib/libmap_server_core.so: undefined symbol: _ZN9nav2_util13LifecycleNode18on_rcl_preshutdownEv
                  [ros2run]: Process exited with failure 127

                  使用小鱼在B站分享的fishros2的fishbotU盘系统，而且我用一键安装指令重装了ROS2依旧报错。

                  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 @515261725
                    最后由 编辑

                    @515261725 你有安装nav2吗，上下文操作有哪些？

                    小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                    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
                    • M
                      mixllred @小鱼
                      最后由 编辑

                      @小鱼 鱼哥，我也有这个问题，每次都扫描开始一会就会timeout，然后就ERROR了，地图扫描不完整

                      终端如下：
                      [INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-16-12-06-30-681768-ec555413ec15-47
                      [INFO] [launch]: Default logging verbosity is set to INFO
                      [INFO] [laser_x2-1]: process started with pid [48]
                      [INFO] [static_transform_publisher-2]: process started with pid [50]
                      [INFO] [cartographer_node-3]: process started with pid [52]
                      [INFO] [cartographer_occupancy_grid_node-4]: process started with pid [54]
                      [INFO] [rviz2-5]: process started with pid [56]
                      [static_transform_publisher-2] [WARN] [1713269191.318786549] []: Old-style arguments are deprecated; see --help for new-style arguments
                      [static_transform_publisher-2] [INFO] [1713269191.583721233] [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'
                      [cartographer_node-3] [INFO] [1713269191.671332461] [cartographer logger]: I0416 12:06:31.000000 52 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] [1713269191.675178836] [cartographer logger]: I0416 12:06:31.000000 52 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
                      [cartographer_node-3] [INFO] [1713269191.677415568] [cartographer logger]: I0416 12:06:31.000000 52 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
                      [cartographer_node-3] [INFO] [1713269191.681007798] [cartographer logger]: I0416 12:06:31.000000 52 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
                      [cartographer_node-3] [INFO] [1713269191.682020949] [cartographer logger]: I0416 12:06:31.000000 52 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
                      [cartographer_node-3] [INFO] [1713269191.683193823] [cartographer logger]: I0416 12:06:31.000000 52 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
                      [cartographer_node-3] [INFO] [1713269191.684767187] [cartographer logger]: I0416 12:06:31.000000 52 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
                      [cartographer_node-3] [INFO] [1713269191.685998156] [cartographer logger]: I0416 12:06:31.000000 52 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] [1713269191.686030258] [cartographer logger]: I0416 12:06:31.000000 52 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] [1713269191.687939363] [cartographer logger]: I0416 12:06:31.000000 52 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] [1713269191.687977251] [cartographer logger]: I0416 12:06:31.000000 52 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] [1713269191.761594023] [cartographer logger]: I0416 12:06:31.000000 52 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
                      [rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
                      [rviz2-5] [INFO] [1713269194.620629614] [rviz2]: Stereo is NOT SUPPORTED
                      [rviz2-5] [INFO] [1713269194.621912638] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
                      [rviz2-5] [INFO] [1713269194.754669959] [rviz2]: Stereo is NOT SUPPORTED
                      [cartographer_node-3] [INFO] [1713269205.685849593] [cartographer logger]: I0416 12:06:45.000000 52 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638488660056556545'.
                      [cartographer_node-3] [INFO] [1713269205.686133853] [cartographer logger]: I0416 12:06:45.000000 52 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
                      [cartographer_node-3] [INFO] [1713269205.786017544] [cartographer logger]: I0416 12:06:45.000000 52 pose_graph_2d.cc:148] Inserted submap (0, 0).
                      [rviz2-5] [INFO] [1713269206.710351584] [rviz2]: Trying to create a map of size 157 x 75 using 1 swatches
                      [rviz2-5] [ERROR] [1713269206.742586494] [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
                      [cartographer_node-3] [INFO] [1713269207.336078908] [cartographer logger]: I0416 12:06:47.000000 52 collated_trajectory_builder.cc:81] scan rate: 1.20 Hz 8.36e-01 s +/- 9.58e-01 s (pulsed at 101.84% real time)
                      [rviz2-5] [ERROR] [1713269207.352292656] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269207.326929 but the latest data is at time 1713269207.325720, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269209.109143317] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269209.211466 but the latest data is at time 1713269209.211132, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269209.334953712] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269209.469465 but the latest data is at time 1713269209.340465, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269209.461521477] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269209.598465 but the latest data is at time 1713269209.598465, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269209.590836696] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269209.727465 but the latest data is at time 1713269209.680132, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269209.749655316] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269209.835842 but the latest data is at time 1713269209.835508, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269209.877724903] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269209.965175 but the latest data is at time 1713269209.965175, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [INFO] [1713269210.711138962] [rviz2]: Trying to create a map of size 158 x 76 using 1 swatches
                      [rviz2-5] [ERROR] [1713269211.638195663] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269211.651583 but the latest data is at time 1713269211.651250, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269211.768248920] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269211.879476 but the latest data is at time 1713269211.879142, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269212.953693786] [rviz2]: Lookup would require extrapolation into the past. Requested time 1079831768.051021 but the earliest data is at time 1713269205.814118, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269213.045640846] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269213.160907 but the latest data is at time 1713269213.160573, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269213.173373009] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269213.289907 but the latest data is at time 1713269213.289907, when looking up transform from frame [laser_frame] to frame [map]
                      [cartographer_node-3] [WARN] [1713269213.282777994] [cartographer logger]: W0416 12:06:53.000000 52 range_data_collator.cc:82] Dropped 1 earlier points.
                      [rviz2-5] [ERROR] [1713269213.302591756] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269213.418573 but the latest data is at time 1713269213.418240, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269213.493703933] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269213.547573 but the latest data is at time 1713269213.547573, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269215.221313290] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269215.256422 but the latest data is at time 1713269215.256088, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [ERROR] [1713269215.414464657] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269215.465421 but the latest data is at time 1713269215.465421, when looking up transform from frame [laser_frame] to frame [map]
                      [rviz2-5] [INFO] [1713269215.533682452] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1713269205.526 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
                      [rviz2-5] [ERROR] [1713269215.542120629] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713269215.594754 but the latest data is at time 1713269215.550088, when looking up transform from frame [laser_frame] to frame [map]

                      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 检查下网络结构

                        小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                        M 2 条回复 最后回复 回复 引用 0
                        • M
                          mixllred @小鱼
                          最后由 编辑

                          @小鱼 鱼哥，我是用电脑开的热点，虚拟机用的是桥接模式

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

                            @小鱼
                            #? 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', 62715)> 4
                            PTY: Opened /dev/pts/2 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: 390
                            [YDLIDAR]:Sample Rate: 4K
                            [YDLIDAR INFO] Current Sampling Rate : 4K
                            [YDLIDAR INFO] Now YDLIDAR is scanning ......
                            timout count: 1
                            [ERROR] [1713320114.687064868] [ydlidar_node]: Failed to get scan
                            timout count: 2
                            [ERROR] [1713320116.687741811] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320118.689269687] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320120.691270177] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320122.691578106] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320124.692916798] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320126.693436285] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320128.694099668] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320130.695395445] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320132.695617436] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320134.696474381] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320136.697445108] [ydlidar_node]: Failed to get scan
                            [ERROR] [1713320138.698319895] [ydlidar_node]: Failed to get scan
                            ^C[INFO] [1713320140.087169237] [rclcpp]: signal_handler(signum=2)
                            Traceback (most recent call last):
                            File "/workspace/install/fishbot_laser_driver/lib/fishbot_laser_driver/laser_x2", line 33, in <module>
                            sys.exit(load_entry_point('fishbot-laser-driver==0.0.0', 'console_scripts', 'laser_x2')())
                            File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 83, in main
                            SocketServer()
                            File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 35, in init
                            self.main()
                            File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 61, in main
                            fdlist = mypoll.poll(256)
                            KeyboardInterrupt
                            [ros2run]: Interrupt

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

                              @mixllred
                              建图前雷达连接正常，开始建图后雷达转接板指示灯一闪一闪，出现以上报错，出现基本地图图像后建图停止，一个坐标轴开始偏离起始点（雷达没有移动）
                              49ec8b02-050f-4644-bef9-c2a2508c4ae5-image.png
                              9f217e5c-6c3c-44f9-90ff-77754a4f6473-image.png

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

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

                                @mixllred
                                建图前雷达连接正常，开始建图后雷达转接板指示灯一闪一闪，出现以上报错，出现基本地图图像后建图停止，一个坐标轴开始偏离起始点（雷达没有移动）
                                49ec8b02-050f-4644-bef9-c2a2508c4ae5-image.png
                                9f217e5c-6c3c-44f9-90ff-77754a4f6473-image.png

                                @小鱼

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

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

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

                                  @mixllred
                                  建图前雷达连接正常，开始建图后雷达转接板指示灯一闪一闪，出现以上报错，出现基本地图图像后建图停止，一个坐标轴开始偏离起始点（雷达没有移动）
                                  49ec8b02-050f-4644-bef9-c2a2508c4ae5-image.png
                                  9f217e5c-6c3c-44f9-90ff-77754a4f6473-image.png

                                  @小鱼

                                  1. 驱动雷达
                                  2. 建图测试
                                  3. 退出
                                    #? 2
                                    [INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-17-03-09-33-024637-0e0b6e597728-48
                                    [INFO] [launch]: Default logging verbosity is set to INFO
                                    [INFO] [laser_x2-1]: process started with pid [49]
                                    [INFO] [static_transform_publisher-2]: process started with pid [51]
                                    [INFO] [cartographer_node-3]: process started with pid [53]
                                    [INFO] [cartographer_occupancy_grid_node-4]: process started with pid [55]
                                    [INFO] [rviz2-5]: process started with pid [57]
                                    [static_transform_publisher-2] [WARN] [1713323373.381805889] []: Old-style arguments are deprecated; see --help for new-style arguments
                                    [static_transform_publisher-2] [INFO] [1713323373.453802981] [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'
                                    [cartographer_node-3] [INFO] [1713323373.468241251] [cartographer logger]: I0417 03:09:33.000000 53 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] [1713323373.470254898] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323373.471063510] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323373.472037645] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
                                    [cartographer_node-3] [INFO] [1713323373.472087576] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
                                    [cartographer_node-3] [INFO] [1713323373.472576546] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323373.472652258] [cartographer logger]: I0417 03:09:33.000000 53 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323373.473540021] [cartographer logger]: I0417 03:09:33.000000 53 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] [1713323373.473565354] [cartographer logger]: I0417 03:09:33.000000 53 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] [1713323373.475454388] [cartographer logger]: I0417 03:09:33.000000 53 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] [1713323373.475525833] [cartographer logger]: I0417 03:09:33.000000 53 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] [1713323373.513228297] [cartographer logger]: I0417 03:09:33.000000 53 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
                                    [rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
                                    [rviz2-5] [INFO] [1713323375.276606532] [rviz2]: Stereo is NOT SUPPORTED
                                    [rviz2-5] [INFO] [1713323375.276847655] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
                                    [rviz2-5] [INFO] [1713323375.377706087] [rviz2]: Stereo is NOT SUPPORTED
                                    [INFO] [rviz2-5]: process has finished cleanly [pid 57]
                                    ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
                                    [static_transform_publisher-2] [INFO] [1713323445.889626697] [rclcpp]: signal_handler(signum=2)
                                    [cartographer_occupancy_grid_node-4] [INFO] [1713323445.889629396] [rclcpp]: signal_handler(signum=2)
                                    [laser_x2-1] Traceback (most recent call last):
                                    [laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/fishbot_laser_driver/laser_x2", line 33, in <module>
                                    [laser_x2-1] sys.exit(load_entry_point('fishbot-laser-driver==0.0.0', 'console_scripts', 'laser_x2')())
                                    [laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 83, in main
                                    [cartographer_node-3] [INFO] [1713323445.890779139] [rclcpp]: signal_handler(signum=2)
                                    [cartographer_node-3] [INFO] [1713323445.892393929] [cartographer logger]: I0417 03:10:45.000000 53 node.cpp:569] Shutdown the subscriber of [scan]
                                    [cartographer_node-3] [INFO] [1713323445.892404802] [cartographer logger]: I0417 03:10:45.000000 53 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
                                    [cartographer_node-3] [INFO] [1713323445.892462594] [cartographer logger]: I0417 03:10:45.000000 53 map_builder_bridge.cpp:161] Running final trajectory optimization...
                                    [cartographer_node-3] [INFO] [1713323445.892541842] [cartographer logger]: I0417 03:10:45.000000 90 pose_graph_2d.cc:538] Remaining work items in queue: 2
                                    [cartographer_node-3] [INFO] [1713323445.892582549] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
                                    [cartographer_node-3] [INFO] [1713323445.892593095] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:292] Score histogram:
                                    [cartographer_node-3] Count: 0
                                    [cartographer_node-3] [INFO] [1713323445.892601242] [cartographer logger]: I0417 03:10:45.000000 90 pose_graph_2d.cc:538] Remaining work items in queue: 1
                                    [cartographer_node-3] [INFO] [1713323445.892608468] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
                                    [cartographer_node-3] [INFO] [1713323445.892612679] [cartographer logger]: I0417 03:10:45.000000 90 constraint_builder_2d.cc:292] Score histogram:
                                    [cartographer_node-3] Count: 0
                                    [laser_x2-1] SocketServer()
                                    [laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 35, in init
                                    [laser_x2-1] self.main()
                                    [laser_x2-1] File "/workspace/install/fishbot_laser_driver/lib/python3.10/site-packages/fishbot_laser_driver/fishbot_laser_x2.py", line 52, in main
                                    [laser_x2-1] client, client_address = s.accept()
                                    [laser_x2-1] File "/usr/lib/python3.10/socket.py", line 293, in accept
                                    [cartographer_node-3] [INFO] [1713323445.897581908] [cartographer logger]: I0417 03:10:45.000000 93 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
                                    [cartographer_node-3] [INFO] [1713323445.897597265] [cartographer logger]: I0417 03:10:45.000000 93 constraint_builder_2d.cc:292] Score histogram:
                                    [cartographer_node-3] Count: 0
                                    [laser_x2-1] fd, addr = self._accept()
                                    [laser_x2-1] KeyboardInterrupt
                                    Optimizing: Done.
                                    [cartographer_node-3] [INFO] [1713323445.908903661] [cartographer logger]: I0417 03:10:45.000000 92 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
                                    [cartographer_node-3] [INFO] [1713323445.908924915] [cartographer logger]: I0417 03:10:45.000000 92 constraint_builder_2d.cc:292] Score histogram:
                                    [cartographer_node-3] Count: 0
                                    Optimizing: Done.
                                    [ERROR] [laser_x2-1]: process has died [pid 49, exit code -2, cmd '/workspace/install/fishbot_laser_driver/lib/fishbot_laser_driver/laser_x2 --ros-args -r __node:=laser_x2'].
                                    [INFO] [static_transform_publisher-2]: process has finished cleanly [pid 51]
                                    [INFO] [cartographer_occupancy_grid_node-4]: process has finished cleanly [pid 55]
                                    [INFO] [cartographer_node-3]: process has finished cleanly [pid 53]
                                    #? 2
                                    [INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-17-03-10-59-823487-0e0b6e597728-119
                                    [INFO] [launch]: Default logging verbosity is set to INFO
                                    [INFO] [laser_x2-1]: process started with pid [120]
                                    [INFO] [static_transform_publisher-2]: process started with pid [122]
                                    [INFO] [cartographer_node-3]: process started with pid [124]
                                    [INFO] [cartographer_occupancy_grid_node-4]: process started with pid [136]
                                    [INFO] [rviz2-5]: process started with pid [138]
                                    [static_transform_publisher-2] [WARN] [1713323459.910656240] []: Old-style arguments are deprecated; see --help for new-style arguments
                                    [static_transform_publisher-2] [INFO] [1713323459.922487664] [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'
                                    [cartographer_node-3] [INFO] [1713323459.989363279] [cartographer logger]: I0417 03:10:59.000000 124 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] [1713323459.992598529] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323459.993731283] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323459.994592105] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
                                    [cartographer_node-3] [INFO] [1713323459.995089465] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
                                    [cartographer_node-3] [INFO] [1713323459.995736823] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323459.996473406] [cartographer logger]: I0417 03:10:59.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
                                    [cartographer_node-3] [INFO] [1713323459.997757398] [cartographer logger]: I0417 03:10:59.000000 124 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] [1713323459.998694898] [cartographer logger]: I0417 03:10:59.000000 124 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] [1713323459.999343172] [cartographer logger]: I0417 03:10:59.000000 124 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] [1713323460.000050997] [cartographer logger]: I0417 03:11:00.000000 124 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
                                    [rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
                                    [cartographer_node-3] [INFO] [1713323460.013546805] [cartographer logger]: I0417 03:11:00.000000 124 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
                                    [rviz2-5] [INFO] [1713323461.468663953] [rviz2]: Stereo is NOT SUPPORTED
                                    [rviz2-5] [INFO] [1713323461.470127987] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
                                    [rviz2-5] [INFO] [1713323461.502845070] [rviz2]: Stereo is NOT SUPPORTED
                                    [laser_x2-1] timout count: 1
                                    [cartographer_node-3] [INFO] [1713323481.123088627] [cartographer logger]: I0417 03:11:21.000000 124 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638489202810840850'.
                                    [cartographer_node-3] [INFO] [1713323481.123138202] [cartographer logger]: I0417 03:11:21.000000 124 collated_trajectory_builder.cc:81] scan rate: unknown
                                    [cartographer_node-3] [INFO] [1713323481.123171552] [cartographer logger]: I0417 03:11:21.000000 124 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
                                    [cartographer_node-3] [INFO] [1713323481.150925466] [cartographer logger]: I0417 03:11:21.000000 124 pose_graph_2d.cc:148] Inserted submap (0, 0).
                                    [rviz2-5] [INFO] [1713323482.028109586] [rviz2]: Trying to create a map of size 156 x 72 using 1 swatches
                                    [rviz2-5] [ERROR] [1713323482.054869295] [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] [ERROR] [1713323483.856608731] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323483.861673 but the latest data is at time 1713323483.861673, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [ERROR] [1713323485.386181754] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323485.397941 but the latest data is at time 1713323485.397691, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [INFO] [1713323488.007710668] [rviz2]: Trying to create a map of size 158 x 73 using 1 swatches
                                    [rviz2-5] [ERROR] [1713323488.456158042] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323488.462029 but the latest data is at time 1713323488.461279, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [INFO] [1713323489.001771792] [rviz2]: Trying to create a map of size 160 x 74 using 1 swatches
                                    [rviz2-5] [ERROR] [1713323489.863286941] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323489.861070 but the latest data is at time 1713323489.860945, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [INFO] [1713323491.042040818] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1713323481.033 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
                                    [rviz2-5] [INFO] [1713323491.125363673] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1713323481.123 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
                                    [rviz2-5] [ERROR] [1713323491.432702030] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323491.444609 but the latest data is at time 1713323491.429419, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [ERROR] [1713323492.969022591] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323492.968907 but the latest data is at time 1713323492.968782, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [INFO] [1713323493.992594985] [rviz2]: Trying to create a map of size 160 x 155 using 1 swatches
                                    [rviz2-5] [ERROR] [1713323494.664151929] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323494.659646 but the latest data is at time 1713323494.659021, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [ERROR] [1713323494.892792809] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323494.936818 but the latest data is at time 1713323494.936818, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [ERROR] [1713323495.015974891] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323495.061806 but the latest data is at time 1713323495.061556, when looking up transform from frame [laser_frame] to frame [map]
                                    [rviz2-5] [ERROR] [1713323495.176454398] [rviz2]: Lookup would require extrapolation into the future. Requested time 1713323495.186660 but the latest data is at time 1713323495.186035, when looking up transform from frame [laser_frame] to frame [map]
                                    [cartographer_node-3] [INFO] [1713323496.388982766] [cartographer logger]: I0417 03:11:36.000000 124 collated_trajectory_builder.cc:81] scan rate: 1.63 Hz 6.12e-01 s +/- 6.30e-01 s (pulsed at 99.92% real time)
                                    [rviz2-5]
                                  M 1 条回复 最后回复 回复 引用 0
                                  • M
                                    mixllred @mixllred
                                    最后由 编辑

                                    @mixllred
                                    ) 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
                                    [ERROR] [1713344411.195370974] [ydlidar_node]: Failed to get scan
                                    [ERROR] [1713344413.196157579] [ydlidar_node]: Failed to get scan

                                    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 请按照要求，单独发帖提问

                                      小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                      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

                                        @小鱼 https://fishros.org.cn/forum/topic/2465/fishbot雷达建图中断

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                                          苏格拉没有底
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                                          雷达建图不是很清晰，感觉很模糊，是啥问题，如何解决

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                                          • 1
                                            Ryan🎸
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                                            针对第四步，点云数据已经有了，但是Crtl+C，然后输入2之后，并没有产生建图，我遗漏了哪些步骤吗？
                                            3a320704-7ebd-4d52-a9ad-12fe84660ebc-image.png

                                            f21db59b-995e-4096-8444-45f6a120a97f-image.png

                                            c01cd15c-3c49-4647-bd53-46240a88ffbe-image.png

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