LDS-02 - no scans published on /scan topic

[lmendyk]

I have assembled the turtlebot3 with LDS-02 and have it started. On the list of topics there is /scan, the lidar is spinning. There is nothing in logs suggesting that there is something wrong with the lidar (see below) but when doing ros2 topic echo /scan -nothing is published.

I think this is the main reason why Navigation2 stack (ros2 launch turtlebot3_navigation2 navigation2.launch.py) does not build the map and I get “map” frame missing messages.

Could you help me to diagnose more what is wrong with the LDS-02

The log seems OK? [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan

The driver was built from sources "/ros2-devel" on Raspberry 4 4GB with galactic ROS2

[lmendyk]

I have tried manually launching " ros2 launch ld08_driver ld08.launch.py" And this seems working !

ros2 launch ld08_driver ld08.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-10-04-11-36-45-208420-turtlebot3-1109 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ld08_driver-1]: process started with pid [1111] [ld08_driver-1] /dev/ttyACM0 OpenCR Virtual ComPort in FS Mode [ld08_driver-1] /dev/ttyUSB0 CP2102 USB to UART Bridge Controller [ld08driver-1] FOUND LiDAR [ld08driver-1] LiDAR started successfully

the topic /scan has massages sent

So I must check what is wrong with turtlebot3 launch file rather than a problem with the lidar

Sorry for troubling you.

[lmendyk]

It looks that ros-galactic-turtebot3-bringup has the old version of robot.launch.py which ignores the LDS_MODEL env variable and launches the old Lidar :( . So the current version for "galactic-devel" is not released, building from sources or I will just update the individual file for now.