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YDLIDAR / YDLidar-SDK

Driver for receiving YD LiDAR data and more...
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Error, cannot retreive YDLidar health code: ffffffff #8

Open yoansj opened 3 years ago

yoansj commented 3 years ago

Hello,

I recently brought the X4 Lidar and tried to run it on my raspberry pi 3b+ with ubuntu 18.04 as requested in the guide. When i plug my lidar and run the test i get this output

image

Any help will be cool

oleorhagen commented 2 years ago

I had similar issues actually, and it turned out that the unit just wasn't receiving enough juice from my powersupply. An upgrade fixed it!

slowrunner commented 1 year ago

I have same issue with my X4 on Pi4 on Ubuntu 22.04 that I do not have on Ubuntu 20.04 Same robot, same setup steps, runs /usr/local/bin/ydlidar_test fine on Ubuntu 20.04 and health code: ffffffff on Ubuntu 22.04.

This is not a power supply issue.

(Power supply is separate 5.02v 2A regulated supply with nothing else but YDLIDAR X4 powered.)

Boogiebox commented 1 year ago

that is also my problem... using ubuntu 20.04.06 LTS, after ubuntu 22.04.02 LTS using a 5 Volt 3 Ampere powersupply

my results... torsten@p70:~/YDLidar-SDK/startup$ tri_test

[0] ydlidar /dev/ttyS9 [1] ydlidar6 /dev/ttyUSB0 Please select the lidar port:1 Baudrate: [0] 115200 [1] 128000 [2] 150000 [3] 153600 [4] 230400 [5] 460800 [6] 512000 Please select the lidar baudrate:6 Whether the Lidar is one-way communication [yes/no]:no Please enter the lidar scan frequency[5-12]:5 [YDLIDAR] SDK initializing [YDLIDAR] SDK has been initialized [YDLIDAR] SDK Version: 1.1.7 [YDLIDAR] Lidar successfully connected /dev/ttyUSB0[512000] [YDLIDAR] Error, cannot retrieve YDLidar health code: ffffffff [YDLIDAR] Fail to get device information [YDLIDAR] Lidar init success, Elapsed time 2666 ms [YDLIDAR] Failed to start scan mode: ffffffff Fail to start Unknown error

a another test was... [0] ydlidar /dev/ttyS9 [1] ydlidar6 /dev/ttyUSB0 Please select the lidar port:1 Baudrate: [0] 115200 [1] 128000 [2] 150000 [3] 153600 [4] 230400 [5] 460800 [6] 512000 Please select the lidar baudrate:6 Whether the Lidar is one-way communication [yes/no]:yes [YDLIDAR] SDK initializing [YDLIDAR] SDK has been initialized [YDLIDAR] SDK Version: 1.1.7 [YDLIDAR] Lidar successfully connected /dev/ttyUSB0[512000] [YDLIDAR] Lidar running correctly! The health status: good [YDLIDAR] Lidar init success, Elapsed time 624 ms [YDLIDAR] Start to getting intensity flag [YDLIDAR] End to getting intensity flag [YDLIDAR] Create thread 0xE9B93700 [YDLIDAR] Successed to start scan mode, Elapsed time 3562 ms timeout count: 1 timeout count: 2 timeout count: 1 timeout count: 2 [YDLIDAR DEBUG] Thread [0xE9B93700] ready to cancel[0] [YDLIDAR DEBUG] Thread [0xE9B93700] ready to cancel[0] time[0] [YDLIDAR] Thread [0xE9B93700] has been canceled [YDLIDAR] Failed to turn on the Lidar, because the lidar is [Device Failed]. Fail to start Unknown error

any suggestions?

Rih348 commented 1 year ago

@Boogiebox Can you show the content of your src/ydlidar_ros2_driver/params/ydlidar.yaml file?

I had the same issue with my YDlidar X4 pro, and I adjusted the file above to fit my lidar type and it worked!

Boogiebox commented 1 year ago

that is also my problem... using ubuntu 20.04.06 LTS, after ubuntu 22.04.02 LTS using a 5 Volt 3 Ampere powersupply

my results... torsten@p70:~/YDLidar-SDK/startup$ tri_test

[0] ydlidar /dev/ttyS9 [1] ydlidar6 /dev/ttyUSB0 Please select the lidar port:1 Baudrate: [0] 115200 [1] 128000 [2] 150000 [3] 153600 [4] 230400 [5] 460800 [6] 512000 Please select the lidar baudrate:6 Whether the Lidar is one-way communication [yes/no]:no Please enter the lidar scan frequency[5-12]:5 [YDLIDAR] SDK initializing [YDLIDAR] SDK has been initialized [YDLIDAR] SDK Version: 1.1.7 [YDLIDAR] Lidar successfully connected /dev/ttyUSB0[512000] [YDLIDAR] Error, cannot retrieve YDLidar health code: ffffffff [YDLIDAR] Fail to get device information [YDLIDAR] Lidar init success, Elapsed time 2666 ms [YDLIDAR] Failed to start scan mode: ffffffff Fail to start Unknown error

a another test was... [0] ydlidar /dev/ttyS9 [1] ydlidar6 /dev/ttyUSB0 Please select the lidar port:1 Baudrate: [0] 115200 [1] 128000 [2] 150000 [3] 153600 [4] 230400 [5] 460800 [6] 512000 Please select the lidar baudrate:6 Whether the Lidar is one-way communication [yes/no]:yes [YDLIDAR] SDK initializing [YDLIDAR] SDK has been initialized [YDLIDAR] SDK Version: 1.1.7 [YDLIDAR] Lidar successfully connected /dev/ttyUSB0[512000] [YDLIDAR] Lidar running correctly! The health status: good [YDLIDAR] Lidar init success, Elapsed time 624 ms [YDLIDAR] Start to getting intensity flag [YDLIDAR] End to getting intensity flag [YDLIDAR] Create thread 0xE9B93700 [YDLIDAR] Successed to start scan mode, Elapsed time 3562 ms timeout count: 1 timeout count: 2 timeout count: 1 timeout count: 2 [YDLIDAR DEBUG] Thread [0xE9B93700] ready to cancel[0] [YDLIDAR DEBUG] Thread [0xE9B93700] ready to cancel[0] time[0] [YDLIDAR] Thread [0xE9B93700] has been canceled [YDLIDAR] Failed to turn on the Lidar, because the lidar is [Device Failed]. Fail to start Unknown error

any suggestions?

Boogiebox commented 1 year ago

this is the file...

ydlidar_ros2_driver_node: ros__parameters: port: /dev/ttyUSB0 frame_id: laser_frame ignore_array: "" baudrate: 230400 lidar_type: 1 device_type: 0 sample_rate: 9 abnormal_check_count: 4 fixed_resolution: true reversion: true inverted: true auto_reconnect: true isSingleChannel: false intensity: false support_motor_dtr: false angle_max: 180.0 angle_min: -180.0 range_max: 64.0 range_min: 0.01 frequency: 10.0 invalid_range_is_inf: false

Rih348 commented 1 year ago

what type is your ydlidar

Boogiebox commented 1 year ago

it is a ydlidar X4.

Boogiebox commented 1 year ago

Finally it works. I tried always with baudrate 230000, but only 128000 works propper.

Now my ydlidar.yaml: ydlidar_ros2_driver_node: ros__parameters: port: /dev/ydlidar #ttyUSB0 frame_id: laser_frame ignore_array: "" baudrate: 128000 lidar_type: 1 device_type: 6 # 0 sample_rate: 9 # 10 abnormal_check_count: 4 fixed_resolution: true reversion: false # true inverted: true auto_reconnect: true isSingleChannel: false intensity: false support_motor_dtr: true angle_max: 180.0 angle_min: -180.0 range_max: 10.0 range_min: 0.12 frequency: 7.0 invalid_range_is_inf: false

jaafar-omar commented 10 months ago

Instead of using the ydlidar_ros_driver_node, try to use: roslaunch ydlidar_ros_driver X4.launch and in X4.launch file modify it to your actual use.

lvxinliang commented 2 months ago

我修改了ydlidar_ros2_driver/params/ydlidar.yaml文件如下，可以正常使用了

ydlidar_ros2_driver_node:
  ros__parameters:
    port: /dev/ttyUSB0
    frame_id: laser_frame
    ignore_array: ""
    baudrate: 115200
    lidar_type: 1   # 0:TYPE_TOF, 1:TYPE_TRIANGLE 2:TYPE_TOF_NET
    device_type: 0   # 0:YDLIDAR_TYPE_SERIAL, 1:YDLIDAR_TYPE_TCP
    sample_rate: 3
    abnormal_check_count: 4
    fixed_resolution: true
    reversion: true
    inverted: true
    auto_reconnect: true
    isSingleChannel: true
    intensity: false
    support_motor_dtr: true
    angle_max: 180.0
    angle_min: -180.0
    range_max: 64.0
    range_min: 0.01
    frequency: 10.0
    invalid_range_is_inf: false