Open will222 opened 3 months ago
日志:
root@jyserver-NF5280M5:/home/lidarRosDriver/ws_livox# ros2 launch livox_ros_driver2 HAP_launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-22-05-31-48-379391-jyserver-NF5280M5-417 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [livox_ros_driver2_node-1]: process started with pid [418] [livox_ros_driver2_node-1] [INFO] [1724304708.484596389] [livox_lidar_publisher]: Livox Ros Driver2 Version: 1.0.0 [livox_ros_driver2_node-1] [INFO] [1724304708.485207510] [livox_lidar_publisher]: Data Source is raw lidar. [livox_ros_driver2_node-1] [INFO] [1724304708.485233212] [livox_lidar_publisher]: Config file : /home/lidarRosDriver/ws_livox/install/livox_ros_driver2/share/livox_ros_driver2/launch_ROS2/../config/HAP_config.json [livox_ros_driver2_node-1] LdsLidar *GetInstance [livox_ros_driver2_node-1] config lidar type: 8 [livox_ros_driver2_node-1] successfully parse base config, counts: 12 [livox_ros_driver2_node-1] [INFO] [1724304708.490067051] [livox_lidar_publisher]: Init lds lidar success! [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_169060544. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_303278272. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_387164352. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_286501056. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_269723840. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_336832704. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_219392192. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_202614976. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_185837760. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_252946624. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_353609920. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_236169408. [livox_ros_driver2_node-1] Init queue, real query size:16. [livox_ros_driver2_node-1] Lidar[11] storage queue size: 10 [livox_ros_driver2_node-1] Init queue, real query size:16. [livox_ros_driver2_node-1] Lidar[9] storage queue size: 10 [livox_ros_driver2_node-1] Init queue, real query size:16. [livox_ros_driver2_node-1] Lidar[10] storage queue size: 10 [livox_ros_driver2_node-1] set pcl data type, handle: 185837760, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 185837760, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 185837760 [livox_ros_driver2_node-1] set pcl data type, handle: 336832704, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 336832704, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 336832704 [livox_ros_driver2_node-1] set pcl data type, handle: 219392192, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 219392192, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 219392192 [livox_ros_driver2_node-1] set pcl data type, handle: 202614976, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 202614976, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 202614976 [livox_ros_driver2_node-1] set pcl data type, handle: 269723840, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 269723840, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 269723840 [livox_ros_driver2_node-1] set pcl data type, handle: 252946624, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 252946624, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 252946624 [livox_ros_driver2_node-1] set pcl data type, handle: 236169408, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 236169408, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 236169408 [livox_ros_driver2_node-1] successfully set data type, handle: 185837760, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 185837760, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.11 [livox_ros_driver2_node-1] successfully change work mode, handle: 185837760 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.11 [livox_ros_driver2_node-1] set pcl data type, handle: 353609920, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 353609920, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 353609920 [livox_ros_driver2_node-1] successfully set data type, handle: 219392192, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 219392192, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.13 [livox_ros_driver2_node-1] successfully change work mode, handle: 219392192 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.13 [livox_ros_driver2_node-1] successfully set data type, handle: 202614976, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 202614976, set_bit: 0 [livox_ros_driver2_node-1] successfully set data type, handle: 336832704, set_bit: 2 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.12 [livox_ros_driver2_node-1] successfully change work mode, handle: 202614976 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.12 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 336832704, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.20 [livox_ros_driver2_node-1] successfully change work mode, handle: 336832704 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.20 [livox_ros_driver2_node-1] successfully set data type, handle: 269723840, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 269723840, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.16 [livox_ros_driver2_node-1] successfully change work mode, handle: 269723840 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.16 [livox_ros_driver2_node-1] successfully set data type, handle: 252946624, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 252946624, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.15 [livox_ros_driver2_node-1] successfully change work mode, handle: 252946624 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.15 [livox_ros_driver2_node-1] successfully set data type, handle: 236169408, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 236169408, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.14 [livox_ros_driver2_node-1] successfully change work mode, handle: 236169408 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.14 [livox_ros_driver2_node-1] successfully set data type, handle: 353609920, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 353609920, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.21 [livox_ros_driver2_node-1] successfully change work mode, handle: 353609920 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.21 [livox_ros_driver2_node-1] [INFO] [1724304711.512321574] [livox_lidar_publisher]: livox/lidar_192_168_19_15 publish use PointCloud2 format [livox_ros_driver2_node-1] [INFO] [1724304711.653880036] [livox_lidar_publisher]: livox/lidar_192_168_19_21 publish use PointCloud2 format [livox_ros_driver2_node-1] [INFO] [1724304711.787655277] [livox_lidar_publisher]: livox/lidar_192_168_19_14 publish use PointCloud2 format
八个hap激光雷达,分为两组,每一组四个激光雷达,连在一个交换机上。
其中一组中,三个激光雷达一直可以读取数据,无论在livox viewer还是 ros驱动。另外一个则都读不到数据,好像坏了。
另外一组,四个激光雷达,在livox viewer中都可以读取数据,使用ros或者直接使用sdk驱动,时而读取不到,时而能读取到。很震惊,很奇怪。
是不是因为网络问题或者电压等等问题,导致的,我很疑惑。
能否给出引发原因或调试思路。
急救!!!
( 补充:
)
日志:
root@jyserver-NF5280M5:/home/lidarRosDriver/ws_livox# ros2 launch livox_ros_driver2 HAP_launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-22-05-31-48-379391-jyserver-NF5280M5-417 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [livox_ros_driver2_node-1]: process started with pid [418] [livox_ros_driver2_node-1] [INFO] [1724304708.484596389] [livox_lidar_publisher]: Livox Ros Driver2 Version: 1.0.0 [livox_ros_driver2_node-1] [INFO] [1724304708.485207510] [livox_lidar_publisher]: Data Source is raw lidar. [livox_ros_driver2_node-1] [INFO] [1724304708.485233212] [livox_lidar_publisher]: Config file : /home/lidarRosDriver/ws_livox/install/livox_ros_driver2/share/livox_ros_driver2/launch_ROS2/../config/HAP_config.json [livox_ros_driver2_node-1] LdsLidar *GetInstance [livox_ros_driver2_node-1] config lidar type: 8 [livox_ros_driver2_node-1] successfully parse base config, counts: 12 [livox_ros_driver2_node-1] [INFO] [1724304708.490067051] [livox_lidar_publisher]: Init lds lidar success! [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_169060544. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_303278272. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_387164352. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_286501056. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_269723840. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_336832704. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_219392192. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_202614976. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_185837760. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_252946624. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_353609920. [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_236169408. [livox_ros_driver2_node-1] Init queue, real query size:16. [livox_ros_driver2_node-1] Lidar[11] storage queue size: 10 [livox_ros_driver2_node-1] Init queue, real query size:16. [livox_ros_driver2_node-1] Lidar[9] storage queue size: 10 [livox_ros_driver2_node-1] Init queue, real query size:16. [livox_ros_driver2_node-1] Lidar[10] storage queue size: 10 [livox_ros_driver2_node-1] set pcl data type, handle: 185837760, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 185837760, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 185837760 [livox_ros_driver2_node-1] set pcl data type, handle: 336832704, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 336832704, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 336832704 [livox_ros_driver2_node-1] set pcl data type, handle: 219392192, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 219392192, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 219392192 [livox_ros_driver2_node-1] set pcl data type, handle: 202614976, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 202614976, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 202614976 [livox_ros_driver2_node-1] set pcl data type, handle: 269723840, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 269723840, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 269723840 [livox_ros_driver2_node-1] set pcl data type, handle: 252946624, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 252946624, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 252946624 [livox_ros_driver2_node-1] set pcl data type, handle: 236169408, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 236169408, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 236169408 [livox_ros_driver2_node-1] successfully set data type, handle: 185837760, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 185837760, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.11 [livox_ros_driver2_node-1] successfully change work mode, handle: 185837760 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.11 [livox_ros_driver2_node-1] set pcl data type, handle: 353609920, data type: 1 [livox_ros_driver2_node-1] set scan pattern, handle: 353609920, scan pattern: 0 [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 353609920 [livox_ros_driver2_node-1] successfully set data type, handle: 219392192, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 219392192, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.13 [livox_ros_driver2_node-1] successfully change work mode, handle: 219392192 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.13 [livox_ros_driver2_node-1] successfully set data type, handle: 202614976, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 202614976, set_bit: 0 [livox_ros_driver2_node-1] successfully set data type, handle: 336832704, set_bit: 2 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.12 [livox_ros_driver2_node-1] successfully change work mode, handle: 202614976 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.12 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 336832704, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.20 [livox_ros_driver2_node-1] successfully change work mode, handle: 336832704 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.20 [livox_ros_driver2_node-1] successfully set data type, handle: 269723840, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 269723840, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.16 [livox_ros_driver2_node-1] successfully change work mode, handle: 269723840 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.16 [livox_ros_driver2_node-1] successfully set data type, handle: 252946624, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 252946624, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.15 [livox_ros_driver2_node-1] successfully change work mode, handle: 252946624 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.15 [livox_ros_driver2_node-1] successfully set data type, handle: 236169408, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 236169408, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.14 [livox_ros_driver2_node-1] successfully change work mode, handle: 236169408 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.14 [livox_ros_driver2_node-1] successfully set data type, handle: 353609920, set_bit: 2 [livox_ros_driver2_node-1] successfully set pattern mode, handle: 353609920, set_bit: 0 [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.19.21 [livox_ros_driver2_node-1] successfully change work mode, handle: 353609920 [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.19.21 [livox_ros_driver2_node-1] [INFO] [1724304711.512321574] [livox_lidar_publisher]: livox/lidar_192_168_19_15 publish use PointCloud2 format [livox_ros_driver2_node-1] [INFO] [1724304711.653880036] [livox_lidar_publisher]: livox/lidar_192_168_19_21 publish use PointCloud2 format [livox_ros_driver2_node-1] [INFO] [1724304711.787655277] [livox_lidar_publisher]: livox/lidar_192_168_19_14 publish use PointCloud2 format
八个hap激光雷达,分为两组,每一组四个激光雷达,连在一个交换机上。
其中一组中,三个激光雷达一直可以读取数据,无论在livox viewer还是 ros驱动。另外一个则都读不到数据,好像坏了。
另外一组,四个激光雷达,在livox viewer中都可以读取数据,使用ros或者直接使用sdk驱动,时而读取不到,时而能读取到。很震惊,很奇怪。
是不是因为网络问题或者电压等等问题,导致的,我很疑惑。
能否给出引发原因或调试思路。
急救!!!
( 补充:
)