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RoboSense-LiDAR / rslidar_sdk

RoboSense LiDAR SDK for ROS & ROS2
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[RS128 ROS2] Record bag failed #81

Closed vachelyang closed 2 years ago

vachelyang commented 2 years ago

Infomation: Device: RS-Ruby(type: RS128) OS Env: Ubuntu 20.04, ROS2 Galactic SDK: rslidar_sdk v1.3.2 Work Flow: how_to_online_send_point_cloud_ros.md Demo command: ros2 launch rslidar_sdk start.py (RViz preview is OK)

Two issue descriptor: 1. Why there had launch 2 same node named "/rslidar_sdk_node" ? $ ros2 node list WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects. /rslidar_sdk_node /rslidar_sdk_node /rviz2 /transform_listener_impl_55f1905bce60

2. How to record and offline decode ros2 bag?

$ ros2 topic list /clicked_point /goal_pose /initialpose /parameter_events /rosout /rslidar_packets /rslidar_packets_difop /rslidar_points /tf /tf_static

$ ros2 topic info /rslidar_packets Type: rslidar_msg/msg/RslidarScan Publisher count: 1 Subscription count: 0

$ ros2 topic hz /rslidar_packets The message type 'rslidar_msg/msg/RslidarScan' is invalid

vachelyang commented 2 years ago

Issue#2 had found the reason. i hadn't source setup.bash environment in another terminal. It not found the msg(rslidar_msg/msg/RslidarScan) definition. low level problem...orz