ldrobotsensor
commented
1 year ago Set the -x permission for the serial port device mounted by the lidar in the system:
sudo chmod 777 /dev/ttyUSB*
@Kristian181
Open Kristian181 opened 1 year ago
ldrobotsensor
commented
1 year ago Set the -x permission for the serial port device mounted by the lidar in the system:
sudo chmod 777 /dev/ttyUSB*
@Kristian181
Kristian181
commented
1 year ago Thanks for the quick response!
The sudo chmod 777 /dev/ttyUSB* seems to have fixed the permission problem. But after the following text it stops printing.
ditmar@ditmar-VirtualBox:~/ldlidar_ros2_ws$ ros2 launch ldlidar_stl_ros2 ld19.launch.py
[INFO] [launch]: All log files can be found below /home/ditmar/.ros/log/2022-11-17-12-21-39-380464-ditmar-VirtualBox-5986
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ldlidar_stl_ros2_node-1]: process started with pid [5987]
[INFO] [static_transform_publisher-2]: process started with pid [5989]
[static_transform_publisher-2] [WARN] [1668684099.539221234] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1668684099.581556904] [base_link_to_base_laser_ld19]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.180000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'base_laser'
[ldlidar_stl_ros2_node-1] [INFO] [1668684099.611595903] [LD19]: LDLiDAR SDK Pack Version is: v3.0.3
[ldlidar_stl_ros2_node-1] [INFO] [1668684099.612532324] [LD19]:
Also the /scan doesn't show up in the ros2 topic list.
ditmar@ditmar-VirtualBox:~$ ros2 topic list /parameter_events /rosout
Kristian181
commented
1 year ago It works now, after a second time the /scan did show up. I am now able to vizualize the data from the lidar in rviz2.
I want to use the lidar to detect obstacles on a modol car. Is ther a way to print/obtain the "raw data" like Distance, Start angle and End angle? So I can use the data in code.
ldrobotsensor
commented
1 year ago @Kristian181 Refer to the following: https://github.com/ldrobotSensorTeam/ldlidar_stl_sdk/blob/master/src/linux_demo/demo.cpp
case ldlidar::LidarStatus::NORMAL:
ldlidarnode->GetLidarScanFreq(lidar_scan_freq);
ToLaserscanMessagePublish(laser_scan_points, lidar_scan_freq, setting, node, publisher);
RCLCPP_ERROR(node->get_logger(),"speed(Hz):%f,size:%d,angle_front:%f, angle_back:%f",
lidar_scan_freq, laser_scan_points.size(), laser_scan_points.front().angle, laser_scan_points.back().angle);
// output 2d point cloud data
for (auto point : laser_scan_points) {
RCLCPP_ERROR(node->get_logger(),"angle:%f,distance(mm):%d,intensity:%d",
point.angle, point.distance, point.intensity);
}
break;
After the command "ros2 launch ldlidar_stl_ros2 ld19.launch.py" I recieved the following error:
[INFO] [launch]: All log files can be found below /home/ditmar/.ros/log/2022-11-17-10-38-42-823400-ditmar-VirtualBox-3613 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ldlidar_stl_ros2_node-1]: process started with pid [3614] [INFO] [static_transform_publisher-2]: process started with pid [3616] [static_transform_publisher-2] [WARN] [1668677924.187515024] []: Old-style arguments are deprecated; see --help for new-style arguments [ldlidar_stl_ros2_node-1] [INFO] [1668677924.433554313] [LD19]: LDLiDAR SDK Pack Version is: v3.0.3 [ldlidar_stl_ros2_node-1] [INFO] [1668677924.434860673] [LD19]:: LDLiDAR_LD19
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.435963707] [LD19]: : scan
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.436106027] [LD19]: : base_laser
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.436180008] [LD19]: : /dev/ttyUSB0
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.436199364] [LD19]: : 230400
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.436209824] [LD19]: : Counterclockwise
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.436219813] [LD19]: : false
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.436229702] [LD19]: : 135.000000
[ldlidar_stl_ros2_node-1] [INFO] [1668677924.436245783] [LD19]: : 225.000000
[ldlidar_stl_ros2_node-1] [ERROR] [1668677924.436360430] [LD19]: ldlidar node start is fail
[static_transform_publisher-2] [INFO] [1668677924.503143437] [base_link_to_base_laser_ld19]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.180000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'base_laser'
[ldlidar_stl_ros2_node-1] [LDS][ERROR][Thu Nov 17 10:38:44 2022][/home/ditmar/ldlidar_ros2_ws/src/ldlidar_stl_ros2/ldlidar_driver/src/serialcom/serial_interface_linux.cpp][Open][41][Open open error,Permission denied]
[ldlidar_stl_ros2_node-1] [LDS][ERROR][Thu Nov 17 10:38:44 2022][/home/ditmar/ldlidar_ros2_ws/src/ldlidar_stl_ros2/ldlidar_driver/src/core/ldlidar_driver.cpp][Start][90][serial is not open:/dev/ttyUSB0]
[ERROR] [ldlidar_stl_ros2_node-1]: process has died [pid 3614, exit code 1, cmd '/home/ditmar/ldlidar_ros2_ws/install/ldlidar_stl_ros2/lib/ldlidar_stl_ros2/ldlidar_stl_ros2_node --ros-args -r __node:=LD19 --params-file /tmp/launch_params_02h4cjfi --params-file /tmp/launch_params_4p_xhzqx --params-file /tmp/launch_params_crh_pjiy --params-file /tmp/launch_params_d3w9fnwj --params-file /tmp/launch_params_ed2i03x1 --params-file /tmp/launch_params_xthq6i0l --params-file /tmp/launch_params_kcwvvbzd --params-file /tmp/launch_params_3_0jvih8 --params-file /tmp/launch_params_taoamxlv'].
Currently using ubuntu version: Ubuntu 22.04.1 LTS I'm also using Oracle Virtual Machine to run Ubuntu.
I hope somone can help me with this problem.