当前位置： 首页 > news >正文

外贸谷歌推广谷歌seo工具

news 2025/7/18 7:12:58
外贸谷歌推广,谷歌seo工具,建设银行网站登录密码,在线制作网站地图记录G4雷达的配置 系统环境为：Ubuntu22.04 配置步骤 1、安装雷达SDK 2、构建 G4 雷达 ROS2 项目工程文件 3、使用Rviz可视化界面显示 1、安装雷达SDK 1.1 安装CMake YDLidar SDK需要CMake 2.8.2作为依赖项 Ubuntu 18.04或者Ubuntu 22.04 sudo apt install cmak…

记录G4雷达的配置

系统环境为：Ubuntu22.04

配置步骤

1、安装雷达SDK
2、构建 G4 雷达 ROS2 项目工程文件
3、使用Rviz可视化界面显示

1、安装雷达SDK

1.1 安装CMake

YDLidar SDK需要CMake 2.8.2+作为依赖项

  • Ubuntu 18.04或者Ubuntu 22.04
sudo apt install cmake pkg-config

如果使用python API，您需要安装python和swig（3.0或更高版本）

sudo apt-get install python swig
sudo apt-get install python-pip

1.2 构建YDLidar SDK

在YDLidar SDK目录中，运行以下命令来编译项目：

git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK/build
cmake ..
make
sudo make install

注意：如果已经安装了python和swig，sudo make install命令也将安装python API，而无需执行以下操作，在这里建议大家还是使用一次 sudo make install 确认安装成功

至此，若在编译过程中未出现错误，即为SDK安装成功

2、构建 G4 雷达 ROS2 项目工程文件

2.1 编译和安装YDLidar SDK

ydlidar_ros2_driver依赖于ydlidar SDK库。如果从未安装过YDLidar SDK库，则必须首先安装YDLidar SDK库，具体的可以参考上一点：

2.2 Cylinder_ros2_driver克隆

（1）为github克隆ydlidar_ros2_driver包：

git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver

（2）构建ydlidar_ros2_driver包

cd ydlidar_ros2_ws
colcon build --symlink-install

（3）程序包环境设置：
将工作空间添加到环境变量里面

source ./install/setup.bash

同样可以使用比较长久的方法：

echo "source ~/ydlidar_ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

在这里 “~/ydlidar_ros2_ws/install/setup.bash路径要对应上自己的工作空间当中的setup.bash位置。

（4）确认要确认包路径已设置，请打印grep-i ROS变量

printenv | grep -i ROS

应该看到类似的内容：OLDPWD=/home/tony/ydlidar_ros2_ws/install
（5）创建串行端口别名[可选]

sudo chmod 0777 src/ydlidar_ros2_driver/startup/*
sudo sh src/ydlidar_ros2_driver/startup/initenv.sh

3、使用Rviz可视化界面显示

使用启动文件运行ydlidar_ros2_driver

3.1 运行雷达启动launch文件

ros2 launch ydlidar_ros2_driver ydlidar_launch.py

或者

ros2 launch $(ros2 pkg prefix ydlidar_ros2_driver)/share/ydlidar_ros2_driver/launch/ydlidar.py

3.2运行可视化界面

如果想要运行可视化界面的话可以使用一下命令，单独在终端里运行即可

ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py

在这里插入图片描述
在这里插入图片描述
3、查看一下雷达扫描话题信息

ros2 run ydlidar_ros2_driver ydlidar_ros2_driver_client or ros2 topic echo /scan

在这里插入图片描述

问题解决

1、launch文件修改

在编译过程当中，出现了ydlidar_launch_view.py文件或者ydlidar_launch.py文件中的
[ERROR] [launch]: Caught exception in launch LifecycleNode: __init__() missing 1 required keyword-only argument: 'node_executable'
这样的错误警告，将两个文件当中含有node_[后缀名称]更改为[后缀名称即可]
例如，在本次报错当中，需要将LifecycleNode这个节点的node_executable更改为executable即可，其他的node_name同样的更改为 name

#!/usr/bin/python3
# Copyright 2020, EAIBOT
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.from ament_index_python.packages import get_package_share_directoryfrom launch import LaunchDescription
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import LogInfoimport lifecycle_msgs.msg
import osdef generate_launch_description():share_dir = get_package_share_directory('ydlidar_ros2_driver')rviz_config_file = os.path.join(share_dir, 'config','ydlidar.rviz')parameter_file = LaunchConfiguration('params_file')# node_name = 'ydlidar_ros2_driver_node'params_declare = DeclareLaunchArgument('params_file',default_value=os.path.join(share_dir, 'params', 'ydlidar.yaml'),description='FPath to the ROS2 parameters file to use.')driver_node = LifecycleNode(package='ydlidar_ros2_driver',executable='ydlidar_ros2_driver_node',name='ydlidar_ros2_driver_node',output='screen',emulate_tty=True,parameters=[parameter_file],namespace='/',)tf2_node = Node(package='tf2_ros',executable='static_transform_publisher',name='static_tf_pub_laser',arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],)rviz2_node = Node(package='rviz2',executable='rviz2',name='rviz2',arguments=['-d', rviz_config_file],)return LaunchDescription([params_declare,driver_node,tf2_node,rviz2_node,])

上图对应的是 "ydlidar_launch_view.py"文件，然后ydlidar_launch.py文件中对应的两个参数，也就是node_executable和node_name 两个变量名字做出修改，修改后如下代码所示：

#!/usr/bin/python3
# Copyright 2020, EAIBOT
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.from ament_index_python.packages import get_package_share_directoryfrom launch import LaunchDescription
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import LogInfoimport lifecycle_msgs.msg
import osdef generate_launch_description():share_dir = get_package_share_directory('ydlidar_ros2_driver')parameter_file = LaunchConfiguration('params_file')# node_name = 'ydlidar_ros2_driver_node'params_declare = DeclareLaunchArgument('params_file',default_value=os.path.join(share_dir, 'params', 'ydlidar.yaml'),description='FPath to the ROS2 parameters file to use.')driver_node = LifecycleNode(package='ydlidar_ros2_driver',executable='ydlidar_ros2_driver_node',name='ydlidar_ros2_driver_node',output='screen',emulate_tty=True,parameters=[parameter_file],namespace='/',)tf2_node = Node(package='tf2_ros',executable='static_transform_publisher',name='static_tf_pub_laser',arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],)return LaunchDescription([params_declare,driver_node,tf2_node,])

建议使用 vscode 编辑器对文本进行更改，以便可以重复撤回和更加便携式的文本切换

2、如果出现node节点链接错误

然后就是在编译过程（colcon build --symlink-install）中，如果出现node节点链接错误的情况，需要更改当前目录下的
ydlidar_ros2_driver/src/ydlidar_ros2_driver_node.cpp 这个文件内容（直接复制替换即可）

/**  YDLIDAR SYSTEM*  YDLIDAR ROS 2 Node**  Copyright 2017 - 2020 EAI TEAM*  http://www.eaibot.com**//* Modified for Humble by @lghrainbow  10/2022 */#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif#include "src/CYdLidar.h"
#include <math.h>
#include <chrono>
#include <iostream>
#include <memory>#include "rclcpp/clock.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/time_source.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "std_srvs/srv/empty.hpp"
#include <vector>
#include <iostream>
#include <string>
#include <signal.h>#define ROS2Verision "1.0.2"   /* 1.0.1 modified */int main(int argc, char *argv[]) {rclcpp::init(argc, argv);auto node = rclcpp::Node::make_shared("ydlidar_ros2_driver_node");RCLCPP_INFO(node->get_logger(), "[YDLIDAR INFO] Current ROS Driver Version: %s\n", ((std::string)ROS2Verision).c_str());CYdLidar laser;std::string str_optvalue = "/dev/ydlidar";node->declare_parameter<std::string>("port");node->get_parameter("port", str_optvalue);///lidar portlaser.setlidaropt(LidarPropSerialPort, str_optvalue.c_str(), str_optvalue.size());///ignore arraystr_optvalue = "";node->declare_parameter<std::string>("ignore_array");node->get_parameter("ignore_array", str_optvalue);laser.setlidaropt(LidarPropIgnoreArray, str_optvalue.c_str(), str_optvalue.size());std::string frame_id = "laser_frame";node->declare_parameter<std::string>("frame_id");node->get_parameter("frame_id", frame_id);//int property//// lidar baudrateint optval = 230400;node->declare_parameter<int>("baudrate");node->get_parameter("baudrate", optval);laser.setlidaropt(LidarPropSerialBaudrate, &optval, sizeof(int));/// tof lidaroptval = TYPE_TRIANGLE;node->declare_parameter<int>("lidar_type");node->get_parameter("lidar_type", optval);laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));/// device typeoptval = YDLIDAR_TYPE_SERIAL;node->declare_parameter<int>("device_type");node->get_parameter("device_type", optval);laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));/// sample rateoptval = 9;node->declare_parameter<int>("sample_rate");node->get_parameter("sample_rate", optval);laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));/// abnormal countoptval = 4;node->declare_parameter<int>("abnormal_check_count");node->get_parameter("abnormal_check_count", optval);laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int));//bool property//// fixed angle resolutionbool b_optvalue = false;node->declare_parameter<bool>("fixed_resolution");node->get_parameter("fixed_resolution", b_optvalue);laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));/// rotate 180b_optvalue = true;node->declare_parameter<bool>("reversion");node->get_parameter("reversion", b_optvalue);laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));/// Counterclockwiseb_optvalue = true;node->declare_parameter<bool>("inverted");node->get_parameter("inverted", b_optvalue);laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));b_optvalue = true;node->declare_parameter<bool>("auto_reconnect");node->get_parameter("auto_reconnect", b_optvalue);laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));/// one-way communicationb_optvalue = false;node->declare_parameter<bool>("isSingleChannel");node->get_parameter("isSingleChannel", b_optvalue);laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));/// intensityb_optvalue = false;node->declare_parameter<bool>("intensity");node->get_parameter("intensity", b_optvalue);laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));/// Motor DTRb_optvalue = false;node->declare_parameter<bool>("support_motor_dtr");node->get_parameter("support_motor_dtr", b_optvalue);laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));//float property//// unit: °float f_optvalue = 180.0f;node->declare_parameter<float>("angle_max");node->get_parameter("angle_max", f_optvalue);laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float));f_optvalue = -180.0f;node->declare_parameter<float>("angle_min");node->get_parameter("angle_min", f_optvalue);laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float));/// unit: mf_optvalue = 64.f;node->declare_parameter<float>("range_max");node->get_parameter("range_max", f_optvalue);laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));f_optvalue = 0.1f;node->declare_parameter<float>("range_min");node->get_parameter("range_min", f_optvalue);laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));/// unit: Hzf_optvalue = 10.f;node->declare_parameter<float>("frequency");node->get_parameter("frequency", f_optvalue);laser.setlidaropt(LidarPropScanFrequency, &f_optvalue, sizeof(float));bool invalid_range_is_inf = false;node->declare_parameter<bool>("invalid_range_is_inf");node->get_parameter("invalid_range_is_inf", invalid_range_is_inf);bool ret = laser.initialize();if (ret) {ret = laser.turnOn();} else {RCLCPP_ERROR(node->get_logger(), "%s\n", laser.DescribeError());}auto laser_pub = node->create_publisher<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(rclcpp::SensorDataQoS()));auto stop_scan_service =[&laser](const std::shared_ptr<rmw_request_id_t> request_header,const std::shared_ptr<std_srvs::srv::Empty::Request> req,std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool{return laser.turnOff();};auto stop_service = node->create_service<std_srvs::srv::Empty>("stop_scan",stop_scan_service);auto start_scan_service =[&laser](const std::shared_ptr<rmw_request_id_t> request_header,const std::shared_ptr<std_srvs::srv::Empty::Request> req,std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool{return laser.turnOn();};auto start_service = node->create_service<std_srvs::srv::Empty>("start_scan",start_scan_service);rclcpp::WallRate loop_rate(20);while (ret && rclcpp::ok()) {LaserScan scan;//if (laser.doProcessSimple(scan)) {auto scan_msg = std::make_shared<sensor_msgs::msg::LaserScan>();scan_msg->header.stamp.sec = RCL_NS_TO_S(scan.stamp);scan_msg->header.stamp.nanosec =  scan.stamp - RCL_S_TO_NS(scan_msg->header.stamp.sec);scan_msg->header.frame_id = frame_id;scan_msg->angle_min = scan.config.min_angle;scan_msg->angle_max = scan.config.max_angle;scan_msg->angle_increment = scan.config.angle_increment;scan_msg->scan_time = scan.config.scan_time;scan_msg->time_increment = scan.config.time_increment;scan_msg->range_min = scan.config.min_range;scan_msg->range_max = scan.config.max_range;int size = (scan.config.max_angle - scan.config.min_angle)/ scan.config.angle_increment + 1;scan_msg->ranges.resize(size);scan_msg->intensities.resize(size);for(size_t i=0; i < scan.points.size(); i++) {int index = std::ceil((scan.points[i].angle - scan.config.min_angle)/scan.config.angle_increment);if(index >=0 && index < size) {scan_msg->ranges[index] = scan.points[i].range;scan_msg->intensities[index] = scan.points[i].intensity;}}laser_pub->publish(*scan_msg);} else {RCLCPP_ERROR(node->get_logger(), "Failed to get scan");}if(!rclcpp::ok()) {break;}rclcpp::spin_some(node);loop_rate.sleep();}RCLCPP_INFO(node->get_logger(), "[YDLIDAR INFO] Now YDLIDAR is stopping .......");laser.turnOff();laser.disconnecting();rclcpp::shutdown();return 0;
}

🌸🌸🌸完结撒花🌸🌸🌸

🌈🌈Redamancy🌈🌈

http://www.shuangfujiaoyu.com/news/23090.html

相关文章：

  • 建设银行公积金网站提示udun免费seo网站优化
  • wordpress 全局播放器天津外贸seo推广
  • 做厂家批发的网站昆明百度搜索排名优化
  • 网站建设企业网站制作24小时免费看的视频哔哩哔哩
  • 做奶茶店网站百度seo关键词排名优化软件
  • 营销咨询师招聘厦门seo公司
  • 网站开发 证书长沙优化网站哪家公司好
  • 潍坊网站建设建站网络营销以什么为中心
  • 网站飘落怎么做企业网站seo排名
  • seo推广和百度推广的区别站长工具seo
  • 广州做网站星珀最近热点新闻事件2023
  • 有哪些竞价网站现在什么网络推广好
  • 静态企业网站下载百度不让访问危险网站怎么办
  • 漯河网站建设茂睿科技万网域名查询注册商
  • wordpress好用的地图seo超级外链工具免费
  • 做网站手把手个人网页设计作品模板
  • 北京做网站的大公司百度关键词排名联系
  • 做网站电子版报价模板中国疾控卫生应急服装
  • 自己怎么做农好产品网站网络销售话术900句
  • wordpress 付费查看文章企业seo职位
  • 想换掉做网站的公司重庆森林经典台词梁朝伟
  • 重庆合川企业网站建设如何建立一个自己的网站?
  • 四川网站建设设计公司哪家好微信营销技巧
  • 网络公司名字大全简单好听阳江seo
  • 学做巧裁缝官方网站谷歌推广和seo
  • 自媒体网站 程序网络舆情管理
  • 孙俪做的网站广告app拉新推广平台渠道商
  • 网站静态图怎么做seo网站收录工具
  • 贵港网站建设公司3步打造seo推广方案
  • 信用中国网站由哪个部委支持下建设如何做平台推广