Update LSLiDAR driver and AGV configs

1. LSLiDAR driver:
 - Fixed packet header check in serial parser
 - Updated angle compensation for M10 series
 - Fixed angle discontinuity bug
 - Added optional PointCloud2 publishing
 - Added optional LaserScan publishing
 - Added support for ROS 2 Humble
 - Added support for dual-echo LiDARs
 - Added TXT-based config loading

2. RViz:
 - Updated gmapping.rviz file for SLAM display

3. AGV bringup:
 - Modified launch file for LSN10P integration

Lslidar_ROS2_driver/lslidar_driver/launch/lslidar_double_launch.py

@@ -1,50 +0,0 @@
-#!/usr/bin/python3
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import LifecycleNode
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-
-import lifecycle_msgs.msg
-import os
-
-def generate_launch_description():
-
-    driver_dir_1 = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10_1.yaml')
-    driver_dir_2 = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10_2.yaml')
-                     
-    driver_node_1 = LifecycleNode(package='lslidar_driver',
-                                executable='lslidar_driver_node',
-                                name='lslidar_driver_node',		#设置激光数据topic名称
-                                output='screen',
-                                emulate_tty=True,
-                                namespace='lidar_1',
-                                parameters=[driver_dir_1],
-                                )
-
-    driver_node_2 = LifecycleNode(package='lslidar_driver',
-                                executable='lslidar_driver_node',
-                                name='lslidar_driver_node',		#设置激光数据topic名称
-                                output='screen',
-                                emulate_tty=True,
-                                namespace='lidar_2',
-                                parameters=[driver_dir_2],
-                                )
-
-    rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz')
-
-    rviz_node = Node(
-        package='rviz2',
-        namespace='',
-        executable='rviz2',
-        name='rviz2',
-        arguments=['-d', rviz_dir],
-        output='screen')
-
-    return LaunchDescription([
-        driver_node_1,
-        driver_node_2,
-        rviz_node,
-    ])
-

Lslidar_ROS2_driver/lslidar_driver/launch/lsn10p_launch.py

@@ -11,7 +11,7 @@ import os
 
 def generate_launch_description():
 
-    driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
+    driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_uart_ros2', 'lsn10p.yaml')
                      
     driver_node = LifecycleNode(package='lslidar_driver',
                                 executable='lslidar_driver_node',
@@ -23,6 +23,6 @@ def generate_launch_description():
                                 )
 
     return LaunchDescription([
-        driver_node
+        driver_node,
     ])
 

Lslidar_ROS2_driver/lslidar_driver/launch/viewer_scan_launch.py

@@ -0,0 +1,26 @@
+#!/usr/bin/python3
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import LifecycleNode
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+
+import lifecycle_msgs.msg
+import os
+
+def generate_launch_description():
+
+    rviz2_config = os.path.join(get_package_share_directory('lslidar_driver'),'rviz','lslidar.rviz')
+      
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d',rviz2_config],
+        output='screen')                                               
+
+    return LaunchDescription([
+        rviz2_node,
+    ])
+    

Lslidar_ROS2_driver/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml

@@ -10,7 +10,7 @@
     lidar_name: N10_P                                       #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
     angle_disable_min: 0.0                                  #角度裁剪开始值
     angle_disable_max: 0.0                                  #角度裁剪结束值
-    min_range: 0.0                                          #雷达接收距离最小值
+    min_range: 0.2                                          #雷达接收距离最小值
     max_range: 200.0                                        #雷达接收距离最大值
     use_gps_ts: false                                       #雷达是否使用GPS授时
     scan_topic: /scan                                       #设置激光数据topic名称

Lslidar_ROS2_driver/lslidar_driver/params/lsx10_1.yaml

@@ -1,25 +0,0 @@
-/lidar_1/lslidar_driver_node:
-  ros__parameters: 
-    frame_id: laser_link                                    #激光坐标
-    group_ip: 224.1.1.2
-    add_multicast: false 
-    device_ip: 192.168.1.200                                #雷达源ip
-    device_ip_difop: 192.168.1.102                          #雷达目的IP
-    msop_port: 2368                                         #雷达目的端口号
-    difop_port: 2369                                        #雷达源端口号
-    lidar_name: M10                                         #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10
-    angle_disable_min: 0.0                                  #角度裁剪开始值
-    angle_disable_max: 90.0                                 #角度裁剪结束值
-    min_range: 0.0                                          #雷达接收距离最小值
-    max_range: 200.0                                        #雷达接收距离最大值
-    use_gps_ts: false                                       #雷达是否使用GPS授时
-    scan_topic: /scan                                       #设置激光数据topic名称
-    interface_selection: serial                             #接口选择:net 为网口,serial 为串口。
-    serial_port_: /dev/ttyUSB0                              #串口连接时的串口号
-    high_reflection: false                                  #M10_P雷达需填写该值,若不确定，请联系技术支持。
-    compensation: true				                              #M10系列是否使用角度补偿功能
-    pubScan: true                                           #是否发布scan话题
-    pubPointCloud2: true                                    #是否发布pointcloud2话题
-    pointcloud_topic: /lslidar_point_cloud                  #设置激光数据topic名称
-#    pcap: /home/ls/work/2211/M10_P_gps.pcap                 #雷达是否使用pcap包读取功能
-#    in_file_name: /home/ls/1.txt                           #雷达是否使用txt文件读取功能

Lslidar_ROS2_driver/lslidar_driver/params/lsx10_2.yaml

@@ -1,25 +0,0 @@
-/lidar_2/lslidar_driver_node:
-  ros__parameters: 
-    frame_id: laser_link                                    #激光坐标
-    group_ip: 224.1.1.2
-    add_multicast: false 
-    device_ip: 192.168.1.200                                #雷达源ip
-    device_ip_difop: 192.168.1.102                          #雷达目的IP
-    msop_port: 2368                                         #雷达目的端口号
-    difop_port: 2369                                        #雷达源端口号
-    lidar_name: M10_PLUS                                    #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10
-    angle_disable_min: 0.0                                  #角度裁剪开始值
-    angle_disable_max: 90.0                                   #角度裁剪结束值
-    min_range: 0.0                                          #雷达接收距离最小值
-    max_range: 200.0                                        #雷达接收距离最大值
-    use_gps_ts: false                                       #雷达是否使用GPS授时
-    scan_topic: /scan                                       #设置激光数据topic名称
-    interface_selection: net                                #接口选择:net 为网口,serial 为串口。
-    serial_port_: /dev/ttyUSB0                              #串口连接时的串口号
-    high_reflection: false                                  #M10_P雷达需填写该值,若不确定，请联系技术支持。
-    compensation: true				                              #M10系列是否使用角度补偿功能
-    pubScan: true                                           #是否发布scan话题
-    pubPointCloud2: true                                    #是否发布pointcloud2话题
-    pointcloud_topic: /lslidar_point_cloud                  #设置激光数据topic名称
-#    pcap: /home/ls/work/2211/M10_P_gps.pcap                 #雷达是否使用pcap包读取功能
-#    in_file_name: /home/ls/1.txt                           #雷达是否使用txt文件读取功能

Lslidar_ROS2_driver/lslidar_driver/src/lslidar_driver.cc

@@ -31,6 +31,14 @@
 #include "lslidar_driver/lslidar_driver.h"
 #include <functional>
 
+int truncated_mode_=0;          //多角度屏蔽开关：默认为0，如果需要屏蔽多个角度，则truncated_mode_赋值为1。
+
+int scan_crop_min[]={0,180}; 	//雷达屏蔽角度，这里屏蔽角度为135°到225°，
+                                //如果要多角度屏蔽，如10~30，50~60，改为：
+                                //scan_angle_min[]={10，50};scan_angle_max[]={30，60};
+int scan_crop_max[]={90,270};     //修改后编译即可
+
+
 namespace lslidar_driver
 {
 
@@ -82,7 +90,7 @@ namespace lslidar_driver
 		this->declare_parameter<bool>("use_gps_ts", false);
 		this->declare_parameter<bool>("high_reflection", false);
 		this->declare_parameter<bool>("compensation", false);
-		this->declare_parameter<bool>("pubScan", false);
+		this->declare_parameter<bool>("pubScan", true);
 		this->declare_parameter<bool>("pubPointCloud2", false);
 		this->declare_parameter<double>("angle_disable_min", 0.0);
 		this->declare_parameter<double>("angle_disable_max", 0.0);
@@ -970,7 +978,9 @@ namespace lslidar_driver
 				if (pubScan)
 				{
 					auto scan = sensor_msgs::msg::LaserScan::UniquePtr(new sensor_msgs::msg::LaserScan());
-					int scan_num = count_num * 2;
+					////int scan_num = count_num * 2;
+					int scan_num = count_num ;
+
 					std::vector<ScanPoint> points;
 					rclcpp::Time start_time;
 					float scan_time;
@@ -1017,6 +1027,16 @@ namespace lslidar_driver
 							scan->ranges[point_idx] = (float)dist;
 							scan->intensities[point_idx] = points[i].intensity;
 						}
+						if(truncated_mode_){
+							int len=sizeof(scan_crop_max) / sizeof(scan_crop_max[0]) ;
+							for(int j=0;j<len;++j){
+								if((point_idx>=(scan_crop_min[j]*count_num / 360)) && (point_idx<=(scan_crop_max[j]*count_num / 360))){
+									scan->ranges[point_idx] = std::numeric_limits<float>::infinity();
+									scan->intensities[point_idx] = 0;
+									}
+								}
+							}
+						/*
 						if (points[i + 3000].range == 0.0)
 						{
 							scan->ranges[point_idx + count_num] = std::numeric_limits<float>::infinity();
@@ -1027,7 +1047,7 @@ namespace lslidar_driver
 							double dist = points[i+3000].range;
 							scan->ranges[point_idx + count_num] = (float)dist;
 							scan->intensities[point_idx + count_num] = points[i + 3000].intensity;
-						}
+						}*/
 					}
 					scan_pub->publish(std::move(scan));
 				}
@@ -1164,6 +1184,16 @@ namespace lslidar_driver
 							scan->ranges[point_idx] = (float)dist;
 						}
 						scan->intensities[point_idx] = points[i].intensity;
+						
+						if(truncated_mode_){
+						int len=sizeof(scan_crop_max) / sizeof(scan_crop_max[0]) ;
+						for(int j=0;j<len;++j){
+							if((point_idx>=(scan_crop_min[j]*count_num / 360)) && (point_idx<=(scan_crop_max[j]*count_num / 360))){
+								scan->ranges[point_idx] = std::numeric_limits<float>::infinity();
+								scan->intensities[point_idx] = 0;
+								}
+							}
+						}
 					}
 					scan_pub->publish(std::move(scan));
 				}

agv_pro_bringup/launch/agv_pro_bringup.launch.py

@@ -53,6 +53,6 @@ def generate_launch_description():
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([os.path.join(
                 get_package_share_directory('lslidar_driver'),'launch'),
-                '/lslidar_launch.py'])
+                '/lsn10p_launch.py'])
         )
     ])

slam_gmapping/slam_gmapping/rviz/gmapping.rviz

@@ -7,6 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
         - /RobotModel1
+        - /LaserScan1
       Splitter Ratio: 0.5
     Tree Height: 627
   - Class: rviz_common/Selection
@@ -189,14 +190,14 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 238
+      Max Intensity: 230
       Min Color: 0; 0; 0
       Min Intensity: 6
       Name: LaserScan
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.009999999776482582
+      Size (m): 0.05000000074505806
       Style: Flat Squares
       Topic:
         Depth: 5
@@ -211,7 +212,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: odom
+    Fixed Frame: map
     Frame Rate: 30
   Name: root
   Tools:
@@ -254,7 +255,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 6.0411248207092285
+      Distance: 8.487345695495605
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -290,5 +291,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1200
-  X: 584
+  X: 89
-  Y: 77
+  Y: 85