Hi, so I have just started implementing a ROS 2 project using a ydlidar x2l LiDAR. When I run the ydlidar_launch_view.py file i get the following output: I noticed a similar issue that was closed, but making adjustments didn't help me (unless i did it wrong).

ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py [INFO] [launch]: Default logging verbosity is set to INFO <launch.substitutions.launch_configuration.LaunchConfiguration object at 0x7f589dfb3250> [INFO] [ydlidar_ros2_driver_node-1]: process started with pid [5837] [INFO] [static_transform_publisher-2]: process started with pid [5839] [static_transform_publisher-2] [WARN] [1694086841.296649159] []: Old-style arguments are deprecated; see --help for new-style arguments [ydlidar_ros2_driver_node-1] [INFO] [1694086841.318627688] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1 [ydlidar_ros2_driver_node-1] [ydlidar_ros2_driver_node-1] [YDLIDAR] SDK initializing [ydlidar_ros2_driver_node-1] [YDLIDAR] SDK has been initialized [ydlidar_ros2_driver_node-1] [YDLIDAR] SDK Version: 1.1.18 [static_transform_publisher-2] [INFO] [1694086841.326665310] [static_tf_pub_laser]: Spinning until stopped - publishing transform [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.020000') [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-2] from 'base_link' to 'laser_frame' [ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar successfully connected [/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0:115200] [ydlidar_ros2_driver_node-1] [YDLIDAR] Error, cannot retrieve YDLidar health code: ffffffff [ydlidar_ros2_driver_node-1] [YDLIDAR] Fail to get baseplate device information [ydlidar_ros2_driver_node-1] [YDLIDAR] Lidar init success, Elapsed time 2662 ms [ydlidar_ros2_driver_node-1] [YDLIDAR] Failed to start scan mode: ffffffff [ydlidar_ros2_driver_node-1] [INFO] [1694086849.624063705] [ydlidar_node]: [YDLIDAR INFO] Now YDLIDAR is stopping ....... [INFO] [ydlidar_ros2_driver_node-1]: process has finished cleanly [pid 5837]

When I launch the file, the LiDAR rotation speed drops down aswell. I have check the voltage during this time and its not sagging, I have a supply with more than enough power for the LiDAR.

My launch file: ` def 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', 'X2.yaml'),
                                        description='FPath to the ROS2 parameters file to use.')

print (parameter_file)

driver_node = LifecycleNode(package='ydlidar_ros2_driver',
                            executable='ydlidar_ros2_driver_node',
                            name='ydlidar_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,
])`

Parameter file used: ydlidar_ros2_driver_node: ros__parameters: port: /dev/ydlidar frame_id: laser_frame ignore_array: "" baudrate: 115200 lidar_type: 1 device_type: 0 sample_rate: 3 abnormal_check_count: 4 fixed_resolution: true reversion: false inverted: false auto_reconnect: true isSingleChannel: true intensity: false support_motor_dtr: true angle_max: 180.0 angle_min: -180.0 range_max: 12.0 range_min: 0.1 frequency: 10.0 invalid_range_is_inf: false

Any help is greatly appreciated. Thank you in advance

Ok I fixed this, I think it was just a serial port issue (wrong port). I put my launch and parameter file here anyway to help others on ROS Humble: I am using the ydlidar 2xl `#!/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_directory

from 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 LogInfo

import lifecycle_msgs.msg import os

def 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', 'X2.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
])

Parameter file: 'ydlidar_ros2_driver_node: ros__parameters: port: /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0 frame_id: laser_frame ignore_array: "" baudrate: 115200 lidar_type: 1 device_type: 0 sample_rate: 3 abnormal_check_count: 4 fixed_resolution: true reversion: false inverted: false auto_reconnect: true isSingleChannel: true intensity: false support_motor_dtr: true angle_max: 180.0 angle_min: -180.0 range_max: 12.0 range_min: 0.1 frequency: 10.0 invalid_range_is_inf: false '

YDLIDAR / ydlidar_ros2_driver

Error, cannot retrieve YDLidar health code: ffffffff #28