[FishBot教程] 9.0.6. 雷达驱动及建图测试

[小鱼]

@sunhao2202 在 [FishBot教程] 9.0.6. 雷达驱动及建图测试 中说：

[ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
[ydlidar_node-2] [ERROR] [1735903928.417755598] [ydlidar_node]: Failed to get scan
[ydlidar_node-2] [2025-01-03 11:32:08][error] Timeout count: 1
[ydlidar_node-2] [2025-01-03 11:32:08][error] Check Sum 0x121C != 0x0233
[ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xB856 != 0x868F
[ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xBF44 != 0xD5E3
[ydlidar_node-2] [2025-01-03 11:32:35][error] Check Sum 0x53E4 != 0x51BD
[ydlidar_node-2] [2025-01-03 11:32:36][error] Check Sum 0xD974 != 0x87D3
[ydlidar_node-2] [2025-01-03 11:32:50][error] Check Sum 0x1E40 != 0x0FDE
[ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_node-2] [ERROR] [1735903972.437430773] [ydlidar_node]: Failed to get scan
[ydlidar_node-2] [2025-01-03 11:32:52][error] Timeout count: 1
[ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
[ydlidar_node-2] [ERROR] [1735903973.437858047] [ydlidar_node]: Failed to get scan
[ydlidar_node-2] [2025-01-03 11:32:53][error] Timeout count: 2
[ydlidar_node-2] [2025-01-03 11:32:53][error] Check Sum 0x1A71 != 0x15AB
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ydlidar_node-2] [INFO] [1735903974.800384796] [rclcpp]: signal_handler(signum=2)
[ERROR] [tcp_server-1]: process has died [pid 59, exit code -2, cmd '/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server --ros-args --params-file /tmp/launch_params_s0dvbmtk --params-file /tmp/launch_params_4auj8l85'].
[tcp_server-1] Traceback (most recent call last):
[tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server", line 33, in <module>
[tcp_server-1] sys.exit(load_entry_point('ros-serail2wifi==0.0.0', 'console_scripts', 'tcp_server')())
[tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/python3.10/site-packages/ros_serail2wifi/tcpserver.py", line 76, in main
[tcp_server-1] node.run()

驱动正常后再尝试建图

[sunhao2202]

@小鱼 烧录最新固件，我再试试

[yongyong]

@小鱼我这个是啥问题

[yongyong]

@1216898523 你好你这个怎么解决的呢，也遇到了这个情况

[小鱼]

@yongyong 把代理删掉

[1270164455]

大佬，启动建图的时候打不开rviz是怎么回事：
[cartographer_node-3] [INFO] [1736613946.687195477] [cartographer logger]: I0111 16:45:46.000000 63 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[ERROR] [rviz2-5]: process has died [pid 67, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspace/launch/config/map.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_xs5a5ggo'].
[tcp_server-1] [INFO] [1736613946.745584663] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser

[1270164455]

@1270164455

[1270164455]

@1270164455 单独可以打开

[小鱼]

@1270164455 我觉得是你的网络或者配置问题

[hxt22222]

这是什么问题

[小鱼]

@hxt22222 1是否正常，看一下视频教程

[490439406]

为何会出现checksum的问题呢？鱼佬

[小鱼]

@490439406 一般情况下是网络原因造成的，可以尝试更换网络测试

[greg333]

@小鱼 小鱼老师，有两个问题求教：
1.过程是我从桌面把机器人放到地面上，然后用键盘控制节点走了一小段，结果它整个建图都飘了，是因为历史记录的原因吗？那我应该怎样清除这些错乱数据呢？
/home/greg/Pictures/Screenshots/Screenshot from 2025-02-18 17-22-55.png
2.我在运行“驱动测试”、“建图测试”时都一直报一个check sum的error，且在运行建图测试时一直报下面的错误
/home/greg/Pictures/Screenshots/Screenshot from 2025-02-18 17-23-33.png

求解！

[greg333]

@小鱼 还有一个问题，我的雷达频率很小，只有1-5hz，是哪个流程可能有问题吗？ /home/greg/Pictures/Screenshots/Screenshot from 2025-02-18 17-33-20.png

[小鱼]

@greg333 ctrl+c 重新运行看看

[greg333]

@小鱼 小鱼老师，重新运行了好几次都是这样。好像确认是网络的问题了：我家是一根有线网络，连接到2.4g的网关这边；然后还有一个5gwifi，通过网线连接到网关。
我两个网络都试过了，建图都飘的不行，我现在打算重新买个纯的2.4g路由器，通过网线连接网关，然后连接这个新的wifi试试。。

[小鱼]

@greg333 ok