m5p3nc3r/agv_pro_ros2
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

add Lslidar_ROS2_driver/

Browse Source
This commit is contained in:
X-lanni
2025-06-06 10:44:28 +08:00
parent b2fc659c53
commit d398ba0a22
24 changed files with 3192 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Lslidar_ROS2_driver/README.md
+44
View File
@@ -0,0 +1,44 @@
# lslidar
## Description
The `lslidar package is a linux ROS2 driver for lslidar M10 ,M10_GPS,M10_P,M10_PLUS and N10.
The package is tested on Ubuntu 20.04 with ROS2 FOXY.
## Compling
This is a Catkin package. Make sure the package is on `ROS_PACKAGE_PATH` after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.
```
cd your_work_space
colcon build
source install/setup.bash
ros2 launch lslidar_driver lslidar_launch.py
```
open new terminal
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ (open radar)
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ (close radar)
ros2 launch lslidar_driver lslidar_launch.py
```
Note that this launch file launches both the driver, which is the only launch file needed to be used.
## FAQ
## Bug Report
Prefer to open an issue. You can also send an E-mail to honghangli@lslidar.com
RERTION
Lslidar_ROS2_driver/lslidar_driver/CMakeLists.txt
+56
View File
@@ -0,0 +1,56 @@
cmake_minimum_required(VERSION 3.5)
project(lslidar_driver)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(libpcap_LIBRARIES -lpcap)
#set(FastRTPS_INCLUDE_DIR /opt/ros/foxy/include)
#set(FastRTPS_LIBRARY_RELEASE /opt/ros/foxy/lib/libfastrtps.so)
#find_package(Boost REQUIRED COMPONENTS )
find_package(Boost REQUIRED thread)
find_package(rclcpp REQUIRED)
find_package(PCL REQUIRED)
find_package(diagnostic_updater REQUIRED)
find_package(lslidar_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclpy REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(sensor_msgs REQUIRED)
#find_package(PCL REQUIRED COMPONENTS common io)
include_directories(
include
${PCL_INCLUDE_DIRS}
${PCL_COMMON_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
# Node
add_executable(lslidar_driver_node src/lslidar_driver_node.cc src/lslidar_driver.cc src/input.cc src/lsiosr.cpp)
target_link_libraries(lslidar_driver_node ${rclcpp_LIBRARIES} ${libpcap_LIBRARIES} ${Boost_LIBRARIES} Boost::thread)
ament_target_dependencies(lslidar_driver_node rclcpp std_msgs lslidar_msgs sensor_msgs diagnostic_updater pcl_conversions)
install(DIRECTORY launch params rviz
DESTINATION share/${PROJECT_NAME})
install(TARGETS
lslidar_driver_node
DESTINATION lib/${PROJECT_NAME}
)
ament_export_dependencies(rclcpp pluginlib lslidar_msgs sensor_msgs pcl_conversions)
ament_export_include_directories(include ${PCL_COMMON_INCLUDE_DIRS})
ament_package()
Lslidar_ROS2_driver/lslidar_driver/include/lslidar_driver/input.h
+134
View File
@@ -0,0 +1,134 @@
/*
* This file is part of lslidar_ch driver.
*
* The driver is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The driver is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the driver. If not, see <http://www.gnu.org/licenses/>.
*
* Input -- base class used to access the data independently of
* its source
*
* InputSocket -- derived class reads live data from the device
* via a UDP socket
*
* InputPCAP -- derived class provides a similar interface from a
* PCAP dump
*/
#ifndef __LSLIDAR_INPUT_H_
#define __LSLIDAR_INPUT_H_
#include <unistd.h>
#include <stdio.h>
#include <pcap.h>
#include <netinet/in.h>
#include "rclcpp/rclcpp.hpp"
#include <lslidar_msgs/msg/lslidar_packet.hpp>
#include <string>
#include <sstream>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <poll.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/file.h>
#include <signal.h>
#include <sensor_msgs/msg/time_reference.hpp>
#include <std_msgs/msg/int8.hpp>
#include <cmath>
namespace lslidar_driver
{
static uint16_t MSOP_DATA_PORT_NUMBER = 2368; // lslidar default data port on PC
/**
* 从在线的网络数据或离线的网络抓包数据（pcap文件）中提取出lidar的原始数据，即packet数据包
* @brief The Input class,
*
* @param private_nh 一个NodeHandled,用于通过节点传递参数
* @param port
* @returns 0 if successful,
* -1 if end of file
* >0 if incomplete packet (is this possible?)
*/
class Input
{
public:
Input(rclcpp::Node* private_nh, uint16_t port);
virtual ~Input()
{
}
virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet) = 0;
int getRpm(void);
int getReturnMode(void);
bool getUpdateFlag(void);
void clearUpdateFlag(void);
void UDP_order(const std_msgs::msg::Int8 msg);
void UDP_difop();
protected:
rclcpp::Node* private_nh_;
uint16_t port_;
std::string devip_str_;
std::string lidar_name;
int cur_rpm_;
int return_mode_;
bool npkt_update_flag_;
bool add_multicast;
std::string group_ip;
int UDP_PORT_NUMBER_DIFOP;
int socket_id_difop;
int sockfd_;
std::string devip_str_difop;
};
/** @brief Live lslidar input from socket. */
class InputSocket : public Input
{
public:
InputSocket(rclcpp::Node* private_nh, uint16_t port = MSOP_DATA_PORT_NUMBER);
virtual ~InputSocket();
virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet);
private:
private:
in_addr devip_;
in_addr devip_difop;
//struct ip_mreq group;
};
class InputPCAP : public Input
{
public:
InputPCAP(rclcpp::Node* private_nh,uint16_t port = MSOP_DATA_PORT_NUMBER, double packet_rate = 0.0,
std::string filename="");
virtual ~InputPCAP();
virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &pkt);
private:
rclcpp::Rate packet_rate_;
std::string filename_;
pcap_t *pcap_;
bpf_program pcap_packet_filter_;
char errbuf_[PCAP_ERRBUF_SIZE];
bool empty_;
bool read_once_;
bool read_fast_;
double repeat_delay_;
};
}
#endif // __LSLIDAR_INPUT_H
Lslidar_ROS2_driver/lslidar_driver/include/lslidar_driver/lsiosr.h
+88
View File
@@ -0,0 +1,88 @@
/*******************************************************
@company: Copyright (C) 2021, Leishen Intelligent System
@product: LSM10_N10
@filename: lsiosr.cpp
@brief:
@version: date: author: comments:
@v1.0 22-10-24 li new
*******************************************************/
#ifndef LSIOSR_H
#define LSIOSR_H
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <fstream>
#include <iostream>
//波特率
#define BAUD_230400 230400
#define BAUD_460800 460800
#define BAUD_500000 500000
#define BAUD_921600 921600
//奇偶校验位
#define PARITY_ODD 'O' //奇数
#define PARITY_EVEN 'E' //偶数
#define PARITY_NONE 'N' //无奇偶校验位
//停止位
#define STOP_BIT_1 1
#define STOP_BIT_2 2
//数据位
#define DATA_BIT_7 7
#define DATA_BIT_8 8
namespace lslidar_driver
{
class LSIOSR{
public:
static LSIOSR* instance(std::string name, int speed, int fd = 0);
~LSIOSR();
/* 从串口中读取数据 */
int read(unsigned char *buffer, int length, int timeout = 30);
/* 向串口传数据 */
int send(const char* buffer, int length, int timeout = 30);
/* Empty serial port input buffer */
void flushinput();
/* 串口初始化 */
int init();
int close();
/* 获取串口号 */
std::string getPort();
/* 设置串口号 */
int setPortName(std::string name);
private:
LSIOSR(std::string name, int speed, int fd);
int waitWritable(int millis);
int waitReadable(int millis);
/* 串口配置的函数 */
int setOpt(int nBits, uint8_t nEvent, int nStop);
std::string port_;
int baud_rate_;
int fd_;
};
}
#endif
Lslidar_ROS2_driver/lslidar_driver/include/lslidar_driver/lslidar_driver.h
+159
View File
@@ -0,0 +1,159 @@
/*
* This file is part of lslidar driver.
*
* The driver is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The driver is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the driver. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LSLIDAR_DRIVER_H
#define LSLIDAR_DRIVER_H
#include <unistd.h>
#include <stdio.h>
#include <netinet/in.h>
#include <string>
#include <boost/shared_ptr.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread.hpp>
#include "rclcpp/rclcpp.hpp"
#include <thread>
#include "diagnostic_updater/diagnostic_updater.hpp"
#include "diagnostic_updater/publisher.hpp"
#include "lslidar_msgs/msg/lslidar_packet.hpp"
#include "std_msgs/msg/byte.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "pcl_conversions/pcl_conversions.h"
#include "pcl/point_types.h"
#include "time.h"
#include "input.h"
#include "lsiosr.h"
#include "sensor_msgs/msg/laser_scan.hpp"
namespace lslidar_driver {
struct PointXYZIT {
PCL_ADD_POINT4D;
uint8_t intensity;
double timestamp;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
} EIGEN_ALIGN16;
typedef struct {
double degree;
double range;
double intensity;
} ScanPoint;
class LslidarDriver: public rclcpp::Node {
public:
LslidarDriver();
LslidarDriver(const rclcpp::NodeOptions& options);
~LslidarDriver();
bool initialize();
bool polling();
typedef std::shared_ptr<LslidarDriver> LslidarDriverPtr;
typedef std::shared_ptr<const LslidarDriver> LslidarDriverConstPtr;
private:
uint64_t get_gps_stamp(struct tm t);
uint8_t N10_CalCRC8(unsigned char * p, int len);
bool loadParameters();
bool createRosIO();
void open_serial();
void lidar_difop();
void lidar_order(const std_msgs::msg::Int8::SharedPtr msg);
void data_processing(unsigned char *packet_bytes,int len);
void data_processing_2(unsigned char *packet_bytes,int len);
void difop_processing(unsigned char *packet_bytes);
void pubScanThread();
void recvThread_crc(int &count,int &link_time);
int receive_data(unsigned char *packet_bytes);
int getScan(std::vector<ScanPoint> &points, rclcpp::Time &scan_time, float &scan_duration);
boost::thread *pubscan_thread_ ;
boost::shared_ptr<Input> msop_input_;
boost::mutex mutex_;
boost::mutex pubscan_mutex_;
boost::condition_variable pubscan_cond_;
int UDP_PORT_NUMBER;
int count_num;
int package_points;
int data_bits_start;
int degree_bits_start;
int end_degree_bits_start;
int rpm_bits_start;
int baud_rate_;
int points_size_;
int idx = 0;
int link_time = 0;
bool use_gps_ts;
bool is_start;
bool high_reflection;
bool compensation;
bool first_compensation = true;
bool pubScan;
bool pubPointCloud2;
double min_range;
double max_range;
double angle_disable_min;
double angle_disable_max;
double angle_able_min;
double angle_able_max;
double last_degree = 0.0;
double degree_compensation = 0.0;
uint16_t PACKET_SIZE ;
uint64_t sweep_end_time_gps;
uint64_t sweep_end_time_hardware;
uint64_t sub_second;
std::string frame_id;
std::string interface_selection;
std::string scan_topic;
std::string lidar_name;
std::string serial_port_;
std::string dump_file;
std::string pointcloud_topic;
std::string in_file_name;
tm pTime;
rclcpp::Time pre_time_;
rclcpp::Time time_;
std::vector<ScanPoint> scan_points_;
std::vector<ScanPoint> scan_points_bak_;
// Diagnostics updater
diagnostic_updater::Updater diagnostics;
std::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic;
double diag_min_freq;
double diag_max_freq;
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr point_cloud_pub;
rclcpp::Subscription<std_msgs::msg::Int8>::SharedPtr difop_switch;
LSIOSR * serial_;
};
typedef PointXYZIT VPoint;
typedef pcl::PointCloud<VPoint> VPointCloud;
} // namespace lslidar_driver
POINT_CLOUD_REGISTER_POINT_STRUCT(lslidar_driver::PointXYZIT,
(float, x, x)(float, y, y)(float, z, z)(
std::uint8_t, intensity,
intensity)(double, timestamp, timestamp))
#endif // _LSLIDAR_DRIVER_H_
Lslidar_ROS2_driver/lslidar_driver/launch/lslidar_double_launch.py
+50
View File
@@ -0,0 +1,50 @@
#!/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/lslidar_launch.py
+40
View File
@@ -0,0 +1,40 @@
#!/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 = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
driver_node = 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='',
parameters=[driver_dir],
)
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,
rviz_node,
])
Lslidar_ROS2_driver/lslidar_driver/package.xml
+36
View File
@@ -0,0 +1,36 @@
<?xml version="1.0"?>
<package format="2">
<name>lslidar_driver</name>
<version>1.2.0</version>
<description>ROS device driver for Leishen lidar.</description>
<maintainer email="shaohuashu@lslidar.com">Nick Shu</maintainer>
<author>Nick Shu</author>
<license>GNU General Public License V3.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rclcpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>lslidar_msgs</build_depend>
<build_depend>pcl_conversions</build_depend>
<build_depend>rclpy</build_depend>
<build_depend>libpcap</build_depend>
<build_depend>libpcl-all-dev</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>sensor_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>lslidar_msgs</exec_depend>
<exec_depend>pcl_conversions</exec_depend>
<exec_depend>rclpy</exec_depend>
<exec_depend>libpcap</exec_depend>
<exec_depend>libpcl-all</exec_depend>
<exec_depend>pluginlib</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<depend>diagnostic_updater</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
Lslidar_ROS2_driver/lslidar_driver/params/lsx10.yaml
+25
View File
@@ -0,0 +1,25 @@
/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 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
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: false #M10系列是否使用角度补偿功能
pubScan: true #是否发布scan话题
pubPointCloud2: false #是否发布pointcloud2话题
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
# pcap: /home/ls/1.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_1.yaml
+25
View File
@@ -0,0 +1,25 @@
/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
+25
View File
@@ -0,0 +1,25 @@
/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/rviz/lslidar.rviz
+161
View File
@@ -0,0 +1,161 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /LaserScan1
Splitter Ratio: 0.3441176414489746
Tree Height: 617
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: scan
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: laser_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 3.635173797607422
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.8653978705406189
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.095397710800171
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000292000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1283
X: 406
Y: 152
Lslidar_ROS2_driver/lslidar_driver/src/input.cc
+398
View File
@@ -0,0 +1,398 @@
#include "lslidar_driver/input.h"
extern volatile sig_atomic_t flag;
namespace lslidar_driver
{
static const size_t packet_size_input = 400;
////////////////////////////////////////////////////////////////////////
// Input base class implementation
////////////////////////////////////////////////////////////////////////
/** @brief constructor
*
* @param private_nh ROS private handle for calling node.
* @param port UDP port number.
*/
Input::Input(rclcpp::Node *private_nh, uint16_t port) : private_nh_(private_nh), port_(port) {
npkt_update_flag_ = false;
cur_rpm_ = 0;
return_mode_ = 1;
devip_str_difop = std::string("192.168.1.200");
devip_str_ = std::string("192.168.1.102");
lidar_name = std::string("M10");
add_multicast = false;
group_ip = std::string("224.1.1.2");
UDP_PORT_NUMBER_DIFOP = 2369;
private_nh->declare_parameter<std::string>("device_ip","192.168.1.102");
private_nh->declare_parameter<std::string>("device_ip_difop","192.168.1.200");
private_nh->declare_parameter<bool>("add_multicast",false);
private_nh->declare_parameter<std::string>("group_ip","224.1.1.2");
private_nh->declare_parameter<int>("difop_port",2369);
private_nh->get_parameter("lidar_name", lidar_name);
private_nh->get_parameter("device_ip", devip_str_);
private_nh->get_parameter("add_multicast", add_multicast);
private_nh->get_parameter("group_ip", group_ip);
private_nh->get_parameter("difop_port", UDP_PORT_NUMBER_DIFOP);
private_nh->get_parameter("device_ip_difop", devip_str_difop);
if (!devip_str_.empty())
RCLCPP_INFO(private_nh->get_logger(), "[driver][input] accepting packets from IP address: %s port: %d",
devip_str_.c_str(),port);
}
/** @brief constructor
*
* @param private_nh ROS private handle for calling node.
* @param port UDP port number
*/
InputSocket::InputSocket(rclcpp::Node *private_nh, uint16_t port) : Input(private_nh, port) {
sockfd_ = -1;
if (!devip_str_.empty()) {
inet_aton(devip_str_.c_str(), &devip_);
inet_aton(devip_str_difop.c_str(), &devip_difop);
}
RCLCPP_INFO(private_nh_->get_logger(), "[driver][socket] Opening UDP socket: port %d", port);
sockfd_ = socket(PF_INET, SOCK_DGRAM, 0);
if (sockfd_ == -1) {
perror("socket"); // TODO: ROS_ERROR errno
return;
}
int opt = 1;
if (setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (const void *) &opt, sizeof(opt))) {
perror("setsockopt error!\n");
return;
}
sockaddr_in my_addr; // my address information
memset(&my_addr, 0, sizeof(my_addr)); // initialize to zeros
my_addr.sin_family = AF_INET; // host byte order
my_addr.sin_port = htons(port); // port in network byte order
my_addr.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP
if (bind(sockfd_, (sockaddr * ) & my_addr, sizeof(sockaddr)) == -1) {
perror("bind"); // TODO: ROS_ERROR errno
return;
}
if (add_multicast) {
struct ip_mreq group;
group.imr_multiaddr.s_addr = inet_addr(group_ip.c_str());
group.imr_interface.s_addr = htonl(INADDR_ANY);
if (setsockopt(sockfd_, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *) &group, sizeof(group)) < 0) {
perror("Adding multicast group error ");
close(sockfd_);
exit(1);
} else
printf("Adding multicast group...OK.\n");
}
if (fcntl(sockfd_, F_SETFL, O_NONBLOCK | FASYNC) < 0) {
perror("non-block");
return;
}
}
/** @brief destructor */
InputSocket::~InputSocket(void) {
(void) close(sockfd_);
}
void Input::UDP_difop()
{
sockaddr_in server_sai;
server_sai.sin_family = AF_INET; // IPV4 协议族
server_sai.sin_port = htons(UDP_PORT_NUMBER_DIFOP);
server_sai.sin_addr.s_addr = inet_addr(devip_str_.c_str());
for (int k = 0; k < 10; k++)
{
unsigned char data[188]= {0x00};
data[0] = 0xA5;
data[1] = 0x5A;
data[2] = 0x55;
data[184] = 0x08;
data[185] = 0x01;
data[186] = 0xFA;
data[187] = 0xFB;
int rtn = sendto(sockfd_, data, 188, 0, (struct sockaddr *)&server_sai, sizeof(struct sockaddr));
if (rtn < 0) printf("start scan error !\n");
else return;
}
return;
}
void Input::UDP_order(const std_msgs::msg::Int8 msg)
{
int i = msg.data;
sockaddr_in server_sai;
server_sai.sin_family = AF_INET; // IPV4 协议族
server_sai.sin_port = htons(UDP_PORT_NUMBER_DIFOP);
server_sai.sin_addr.s_addr = inet_addr(devip_str_.c_str());
int rtn = 0;
for (int k = 0; k < 10; k++)
{
unsigned char data[188]= {0x00};
data[0] = 0xA5;
data[1] = 0x5A;
data[2] = 0x55;
data[186] = 0xFA;
data[187] = 0xFB;
if(lidar_name == "M10" || lidar_name == "M10_GPS" || lidar_name == "M10_P"){
if (i <= 1){ //雷达启停
data[184] = 0x01;
data[185] = char(i);
}
else if (i == 2){ //雷达点云不滤波
data[181] = 0x0A;
data[184] = 0x06;
data[185] = 0x01;
}
else if (i == 3){ //雷达点云正常滤波
data[181] = 0x0B;
data[184] = 0x06;
data[185] = 0x01;
}
else if (i == 4){ //雷达近距离滤波
data[181] = 0x0C;
data[184] = 0x06;
data[185] = 0x01;
}
else if (i == 100){ //接收设备包
data[184] = 0x08;
data[185] = 0x01;
}
else return;
}
else if (lidar_name == "M10_PLUS"){
data[184] = 0x0A;
data[185] = 0x01;
if(i == 5) {
data[141] = 0x01;
data[142] = 0x2c;
}
else if(i == 6) {
data[141] = 0x01;
data[142] = 0x68;
}
else if(i == 8) {
data[141] = 0x01;
data[142] = 0xe0;
}
else if(i == 10) {
data[141] = 0x02;
data[142] = 0x58;
}
else if(i == 12) {
data[141] = 0x02;
data[142] = 0xd0;
}
else if(i == 15) {
data[141] = 0x03;
data[142] = 0x84;
}
else if(i == 20) {
data[141] = 0x04;
data[142] = 0xb0;
}
else if(i <= 1) {
data[184] = 0x01;
data[185] = char(i);
}
else if(i == 100) { //接收设备包
data[184] = 0x08;
data[185] = 0x01;
}
else return;
}
else if(lidar_name == "N10"){
if(i <= 1){
data[185] = char(i);
data[184] = 0x01;
}
else if(i>=6 && i<=12){
data[172] = char(i);
data[184] = 0x0a;
data[185] = 0X01;
}
else return;
}
rtn = sendto(sockfd_, data, 188, 0, (struct sockaddr *)&server_sai, sizeof(struct sockaddr));
if (rtn < 0)
{
printf("start scan error !\n");
}
else
{
if (i == 1)
usleep(3000000);
return;
}
}
return;
}
int InputSocket::getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet)
{
int q = 0;
struct pollfd fds[1];
fds[0].fd = sockfd_;
fds[0].events = POLLIN;
static const int POLL_TIMEOUT = 2000; // one second (in msec)
sockaddr_in sender_address{};
socklen_t sender_address_len = sizeof(sender_address);
while (flag == 1)
{
// poll() until input available
do {
int retval = poll(fds, 1, POLL_TIMEOUT);
if (retval < 0) // poll() error?
{
if (errno != EINTR)
RCLCPP_ERROR(private_nh_->get_logger(), "[driver][socket] poll() error: %s", strerror(errno));
return 0;
}
if (retval == 0) // poll() timeout?
{
RCLCPP_WARN(private_nh_->get_logger(), "lslidar poll() timeout, port: %d",port_);
return 0;
}
if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) || (fds[0].revents & POLLNVAL)) // device error?
{
RCLCPP_ERROR(private_nh_->get_logger(),"poll() reports lslidar error");
return 0;
}
} while ((fds[0].revents & POLLIN) == 0);
// Receive packets that should now be available from the
// socket using a blocking read.
ssize_t nbytes = recvfrom(sockfd_, &packet->data[0], packet_size_input, 0,
(sockaddr *)&sender_address, &sender_address_len);
// ROS_DEBUG_STREAM("incomplete lslidar packet read: "
// << nbytes << " bytes");
q = (int)nbytes;
if (nbytes < 0)
{
if (errno != EWOULDBLOCK)
{
perror("recvfail");
RCLCPP_ERROR(private_nh_->get_logger(),"recvfail");
return 1;
}
}
else if ((size_t)nbytes <= packet_size_input || (size_t)nbytes >= 50)
{
// read successful,
// if packet is not from the lidar scanner we selected by IP,
// continue otherwise we are done
if (devip_str_ != "" && sender_address.sin_addr.s_addr != devip_.s_addr)
continue;
else
break; // done
}
}
if (flag == 0)
{
abort();
}
return q;
}
InputPCAP::InputPCAP(rclcpp::Node *private_nh, uint16_t port, double packet_rate, std::string filename) : Input(private_nh, port),
packet_rate_(packet_rate),
filename_(filename)
{
pcap_ = NULL;
empty_ = true;
read_once_ = false;
read_fast_ = false;
repeat_delay_ = 0.0;
private_nh->get_parameter("read_once", read_once_);
private_nh->get_parameter("read_fast", read_fast_);
private_nh->get_parameter("repeat_delay", repeat_delay_);
if (read_once_)
RCLCPP_WARN(private_nh_->get_logger(),"Read input file only once.");
if (read_fast_)
RCLCPP_WARN(private_nh_->get_logger(),"Read input file as quickly as possible.");
if (repeat_delay_ > 0.0)
RCLCPP_WARN(private_nh_->get_logger(),"Delay %.3f seconds before repeating input file.", repeat_delay_);
RCLCPP_INFO(private_nh_->get_logger(),"Opening PCAP file %s",filename_.c_str());
if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_)) == NULL)
{
RCLCPP_WARN(private_nh_->get_logger(),"Error opening lslidar socket dump file.");
return;
}
std::stringstream filter;
if (devip_str_ != "")
{
filter << "src host " << devip_str_ << "&&";
}
filter << "udp dst port " << port;
pcap_compile(pcap_, &pcap_packet_filter_, filter.str().c_str(), 1, PCAP_NETMASK_UNKNOWN);
}
InputPCAP::~InputPCAP(void)
{
pcap_close(pcap_);
}
int InputPCAP::getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &pkt)
{
struct pcap_pkthdr *header;
const u_char *pkt_data;
while (flag == 1)
{
int res;
if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0)
{
// skip packets not for the correct port and from the selected IP address
if (!devip_str_.empty() && (0 == pcap_offline_filter(&pcap_packet_filter_, header, pkt_data)))
continue;
if (read_fast_ == false)
packet_rate_.sleep();
mempcpy(&pkt->data[0], pkt_data + 42, packet_size_input);
empty_ = false;
return 0;
}
if (empty_)
{
RCLCPP_WARN(private_nh_->get_logger(),"Error %d reading lslidar packet: %s", res, pcap_geterr(pcap_));
return -1;
}
if (read_once_)
{
RCLCPP_WARN(private_nh_->get_logger(),"end of file reached -- done reading.");
return -1;
}
if (repeat_delay_ > 0.0)
{
RCLCPP_WARN(private_nh_->get_logger(),"end of file reached -- delaying %.3f seconds.", repeat_delay_);
usleep(rint(repeat_delay_ * 1000000.0));
}
RCLCPP_WARN(private_nh_->get_logger(),"replayding lsliar dump file");
pcap_close(pcap_);
pcap_ = pcap_open_offline(filename_.c_str(), errbuf_);
empty_ = true;
}
if (flag == 0)
{
abort();
}
return 0;
}
} // namespace
Lslidar_ROS2_driver/lslidar_driver/src/lsiosr.cpp
+400
View File
@@ -0,0 +1,400 @@
/*******************************************************
@company: Copyright (C) 2022, Leishen Intelligent System
@product: LSM10 and N10
@filename: lsiosr.cpp
@brief:
@version: date: author: comments:
@v1.0 21-2-4 yao new
*******************************************************/
#include "lslidar_driver/lsiosr.h"
namespace lslidar_driver {
LSIOSR * LSIOSR::instance(std::string name, int speed, int fd)
{
static LSIOSR obj(name, speed, fd);
return &obj;
}
LSIOSR::LSIOSR(std::string port, int baud_rate, int fd):port_(port), baud_rate_(baud_rate), fd_(fd)
{
printf("port = %s, baud_rate = %d\n", port.c_str(), baud_rate);
}
LSIOSR::~LSIOSR()
{
close();
}
/* 串口配置的函数 */
int LSIOSR::setOpt(int nBits, uint8_t nEvent, int nStop)
{
struct termios newtio, oldtio;
/*保存测试现有串口参数设置，在这里如果串口号等出错，会有相关的出错信息*/
if (tcgetattr(fd_, &oldtio) != 0)
{
perror("SetupSerial 1");
return -1;
}
bzero(&newtio, sizeof(newtio));
/*步骤一，设置字符大小*/
newtio.c_cflag |= CLOCAL; //如果设置，modem 的控制线将会被忽略。如果没有设置，则 open()函数会阻塞直到载波检测线宣告 modem 处于摘机状态为止。
newtio.c_cflag |= CREAD; //使端口能读取输入的数据
/*设置每个数据的位数*/
switch (nBits)
{
case 7:
newtio.c_cflag |= CS7;
break;
case 8:
newtio.c_cflag |= CS8;
break;
}
/*设置奇偶校验位*/
switch (nEvent)
{
case 'O': //奇数
newtio.c_iflag |= (INPCK | ISTRIP);
newtio.c_cflag |= PARENB; //使能校验，如果不设PARODD则是偶校验
newtio.c_cflag |= PARODD; //奇校验
break;
case 'E': //偶数
newtio.c_iflag |= (INPCK | ISTRIP);
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'N': //无奇偶校验位
newtio.c_cflag &= ~PARENB;
break;
}
/*设置波特率*/
switch (baud_rate_)
{
case 230400:
cfsetispeed(&newtio, B230400);
cfsetospeed(&newtio, B230400);
break;
case 460800:
cfsetispeed(&newtio, B460800);
cfsetospeed(&newtio, B460800);
break;
case 500000:
cfsetispeed(&newtio, B500000);
cfsetospeed(&newtio, B500000);
break;
case 921600:
cfsetispeed(&newtio, B921600);
cfsetospeed(&newtio, B921600);
break;
default:
cfsetispeed(&newtio, B460800);
cfsetospeed(&newtio, B460800);
break;
}
/*
* 设置停止位
* 设置停止位的位数， 如果设置，则会在每帧后产生两个停止位， 如果没有设置，则产生一个
* 停止位。一般都是使用一位停止位。需要两位停止位的设备已过时了。
* */
if (nStop == 1)
newtio.c_cflag &= ~CSTOPB;
else if (nStop == 2)
newtio.c_cflag |= CSTOPB;
/*设置等待时间和最小接收字符*/
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 0;
/*处理未接收字符*/
tcflush(fd_, TCIFLUSH);
/*激活新配置*/
if ((tcsetattr(fd_, TCSANOW, &newtio)) != 0)
{
perror("serial set error");
return -1;
}
return 0;
}
void LSIOSR::flushinput() {
tcflush(fd_, TCIFLUSH);
}
/* 从串口中读取数据 */
int LSIOSR::read(unsigned char *buffer, int length, int timeout)
{
memset(buffer, 0, length);
int totalBytesRead = 0;
int rc;
int unlink = 0;
unsigned char* pb = buffer;
if (timeout > 0)
{
rc = waitReadable(timeout);
if (rc <= 0)
{
return (rc == 0) ? 0 : -1;
}
int retry = 3;
while (length > 0)
{
rc = ::read(fd_, pb, (size_t)length);
if (rc > 0)
{
length -= rc;
pb += rc;
totalBytesRead += rc;
if (length == 0)
{
break;
}
}
else if (rc < 0)
{
printf("error \n");
retry--;
if (retry <= 0)
{
break;
}
}
unlink++;
rc = waitReadable(20);
if(unlink > 10)
return -1;
if (rc <= 0)
{
break;
}
}
}
else
{
rc = ::read(fd_, pb, (size_t)length);
if (rc > 0)
{
totalBytesRead += rc;
}
else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN))
{
printf("read error\n");
return -1;
}
}
return totalBytesRead;
}
int LSIOSR::waitReadable(int millis)
{
if (fd_ < 0)
{
return -1;
}
int serial = fd_;
fd_set fdset;
struct timeval tv;
int rc = 0;
while (millis > 0)
{
if (millis < 5000)
{
tv.tv_usec = millis % 1000 * 1000;
tv.tv_sec = millis / 1000;
millis = 0;
}
else
{
tv.tv_usec = 0;
tv.tv_sec = 5;
millis -= 5000;
}
FD_ZERO(&fdset);
FD_SET(serial, &fdset);
rc = select(serial + 1, &fdset, NULL, NULL, &tv);
if (rc > 0)
{
rc = (FD_ISSET(serial, &fdset)) ? 1 : -1;
break;
}
else if (rc < 0)
{
rc = -1;
break;
}
}
return rc;
}
int LSIOSR::waitWritable(int millis)
{
if (fd_ < 0)
{
return -1;
}
int serial = fd_;
fd_set fdset;
struct timeval tv;
int rc = 0;
while (millis > 0)
{
if (millis < 5000)
{
tv.tv_usec = millis % 1000 * 1000;
tv.tv_sec = millis / 1000;
millis = 0;
}
else
{
tv.tv_usec = 0;
tv.tv_sec = 5;
millis -= 5000;
}
FD_ZERO(&fdset);
FD_SET(serial, &fdset);
rc = select(serial + 1, NULL, &fdset, NULL, &tv);
if (rc > 0)
{
rc = (FD_ISSET(serial, &fdset)) ? 1 : -1;
break;
}
else if (rc < 0)
{
rc = -1;
break;
}
}
return rc;
}
/* 向串口中发送数据 */
int LSIOSR::send(const char* buffer, int length, int timeout)
{
if (fd_ < 0)
{
return -1;
}
if ((buffer == 0) || (length <= 0))
{
return -1;
}
int totalBytesWrite = 0;
int rc;
char* pb = (char*)buffer;
if (timeout > 0)
{
rc = waitWritable(timeout);
if (rc <= 0)
{
return (rc == 0) ? 0 : -1;
}
int retry = 3;
while (length > 0)
{
rc = write(fd_, pb, (size_t)length);
if (rc > 0)
{
length -= rc;
pb += rc;
totalBytesWrite += rc;
if (length == 0)
{
break;
}
}
else
{
retry--;
if (retry <= 0)
{
break;
}
}
rc = waitWritable(50);
if (rc <= 0)
{
break;
}
}
}
else
{
rc = write(fd_, pb, (size_t)length);
if (rc > 0)
{
totalBytesWrite += rc;
}
else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN))
{
return -1;
}
}
return totalBytesWrite;
}
int LSIOSR::init()
{
int error_code = 0;
fd_ = open(port_.c_str(), O_RDWR|O_NOCTTY|O_NDELAY);
if (0 < fd_)
{
error_code = 0;
setOpt(DATA_BIT_8, PARITY_NONE, STOP_BIT_1);//设置串口参数
//printf("open_port %s OK !\n", port_.c_str());
}
else
{
error_code = -1;
}
return error_code;
}
int LSIOSR::close()
{
::close(fd_);
return 0;
}
std::string LSIOSR::getPort()
{
return port_;
}
int LSIOSR::setPortName(std::string name)
{
port_ = name;
return 0;
}
}
Lslidar_ROS2_driver/lslidar_driver/src/lslidar_driver.cc
+1383
View File
File diff suppressed because it is too large Load Diff
Lslidar_ROS2_driver/lslidar_driver/src/lslidar_driver_node.cc
+35
View File
@@ -0,0 +1,35 @@
/*
* This file is part of lslidar driver.
*
* The driver is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The driver is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the driver. If not, see <http://www.gnu.org/licenses/>.
*/
#include "rclcpp/rclcpp.hpp"
#include "lslidar_driver/lslidar_driver.h"
using namespace lslidar_driver;
volatile sig_atomic_t flag = 1;
int main(int argc, char* argv[])
{
rclcpp::init(argc, argv);
auto node = std::make_shared<lslidar_driver::LslidarDriver>();
while (rclcpp::ok() && node->polling()) {
rclcpp::spin_some(node);
}
//rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}
Lslidar_ROS2_driver/lslidar_msgs/CMakeLists.txt
+39
View File
@@ -0,0 +1,39 @@
cmake_minimum_required(VERSION 3.5)
project(lslidar_msgs)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
rosidl_generate_interfaces(lslidar_msgs
"msg/LslidarDifop.msg"
"msg/LslidarPacket.msg"
"msg/LslidarPoint.msg"
"msg/LslidarScan.msg"
"msg/LslidarSweep.msg"
DEPENDENCIES builtin_interfaces std_msgs
)
ament_package()
Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarDifop.msg
+2
View File
@@ -0,0 +1,2 @@
int64 temperature
int64 rpm
Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarPacket.msg
+5
View File
@@ -0,0 +1,5 @@
# Raw Leishen LIDAR packet.
builtin_interfaces/Time stamp # packet timestamp
uint8[2000] data # packet contents
Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarPoint.msg
+12
View File
@@ -0,0 +1,12 @@
# Time when the point is captured
float32 time
# Converted distance in the sensor frame
float64 x
float64 y
float64 z
# Raw measurement from Leishen M10
float64 azimuth
float64 distance
float64 intensity
Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarScan.msg
+6
View File
@@ -0,0 +1,6 @@
# Altitude of all the points within this scan
float64 altitude
# The valid points in this scan sorted by azimuth
# from 0 to 359.99
LslidarPoint[] points
Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarSweep.msg
+4
View File
@@ -0,0 +1,4 @@
std_msgs/Header header
# The 0th scan is at the bottom
LslidarScan[16] scans
Lslidar_ROS2_driver/lslidar_msgs/package.xml
+25
View File
@@ -0,0 +1,25 @@
<?xml version="1.0"?>
<package format="3">
<name>lslidar_msgs</name>
<version>1.2.0</version>
<description>ROS message definitions for Leishen LIDARs.</description>
<maintainer email="shaohuashu@lslidar.com">Nick Shu</maintainer>
<author>Nick Shu</author>
<license>GNU General Public License V3.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
<depend>std_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
Lslidar_ROS2_driver/version.txt
+40
View File
@@ -0,0 +1,40 @@
版本变更
/***************************************************************
初始版本: LSLIDAR_M10_N10_V2.5.0_221104_ROS2
变更内容:
1.实现M10/M10_P/M10_PLUS/N10/M10_GPS网口和串口传输数据生成点云功能
2.实现点云角度裁剪和距离过滤功能
3.可以通过lslidar_order话题控制雷达启停
4.支持读取pcap包
更改日期: 2022-11-04
***************************************************************/
/***************************************************************
初始版本: LSLIDAR_M10_N10_V2.5.0_221104_ROS2
变更版本：LSLIDAR_M10_N10_V2.5.1_221130_ROS2
变更内容:
1.新增L10雷达。
2.针对M10_P雷达出现的点云问题进行紧急修复。
3.针对M10和M10_GPS雷达在最近出货雷达出现的点云问题进行紧急修复。
4.修复循环索取新内存导致机器卡死bug。
5.更新M10_P和M10_PLUS雷达协议。
6.修复角度值分配错误问题。
更改日期: 2022-11-30
***************************************************************/
/***************************************************************
初始版本: LSLIDAR_M10_N10_V2.5.1_221130_ROS2
变更版本：LSLIDAR_M10_N10_V2.5.2_230110_ROS2
变更内容:
1.修复驱动串口读取时包头检测漏洞。
2.更新M10系列的角度补偿方法。
3.修复发现的点角度不连续bug。
4.添加可选择是否发布pointcloud2话题。
5.添加可选择是否发布scan话题。
6.兼容ROS2的humble版本
7.兼容双回波雷达
8.添加txt文件读取方法
更改日期: 2023-01-10
***************************************************************/