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Update LSLiDAR driver and AGV configs

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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
This commit is contained in:
X-lanni
2025-06-14 16:28:30 +08:00
parent fc020ceff9
commit db361ceea2
28 changed files with 72 additions and 115 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Lslidar_ROS2_driver/README.md
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Lslidar_ROS2_driver/lslidar_driver/CMakeLists.txt
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Lslidar_ROS2_driver/lslidar_driver/include/lslidar_driver/input.h
Regular → Executable
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Lslidar_ROS2_driver/lslidar_driver/include/lslidar_driver/lsiosr.h
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Lslidar_ROS2_driver/lslidar_driver/include/lslidar_driver/lslidar_driver.h
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Lslidar_ROS2_driver/lslidar_driver/launch/lslidar_double_launch.py
-50
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@@ -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/lslidar_launch.py → Lslidar_ROS2_driver/lslidar_driver/launch/lsn10p_launch.py
Regular → Executable
+2 -2
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@@ -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
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+26
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@@ -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/package.xml
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Lslidar_ROS2_driver/lslidar_driver/params/lsx10.yaml → Lslidar_ROS2_driver/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml
Regular → Executable
+1 -1
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@@ -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
-25
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@@ -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
-25
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@@ -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/rviz/lslidar.rviz
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Lslidar_ROS2_driver/lslidar_driver/src/input.cc
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Lslidar_ROS2_driver/lslidar_driver/src/lsiosr.cpp
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Lslidar_ROS2_driver/lslidar_driver/src/lslidar_driver.cc
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+33 -3
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@@ -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));
}
Lslidar_ROS2_driver/lslidar_driver/src/lslidar_driver_node.cc
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Lslidar_ROS2_driver/lslidar_msgs/CMakeLists.txt
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Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarDifop.msg
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Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarPacket.msg
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Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarPoint.msg
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Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarScan.msg
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Lslidar_ROS2_driver/lslidar_msgs/msg/LslidarSweep.msg
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Lslidar_ROS2_driver/lslidar_msgs/package.xml
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Lslidar_ROS2_driver/version.txt
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Lslidar_ROS2_driver/镭神Lsx雷达旋转角度.png
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agv_pro_bringup/launch/agv_pro_bringup.launch.py
+1 -1
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@@ -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
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@@ -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
Y: 77
X: 89
Y: 85