feat(agv_pro_bringup): add multi-lidar support and drivers
This commit is contained in:
X-lanni
@@ -0,0 +1,78 @@
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cmake_minimum_required(VERSION 3.5)
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project(unitree_lidar_ros2)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(PCL REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(sensor_msgs REQUIRED)
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include_directories(
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${PCL_INCLUDE_DIRS}
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include
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../unitree_lidar_sdk/include
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)
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link_directories(
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${PCL_LIBRARY_DIRS}
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../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
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)
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add_definitions(${PCL_DEFINITIONS})
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add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
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target_link_libraries( unitree_lidar_ros2_node
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${Boost_SYSTEM_LIBRARY}
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${PCL_LIBRARIES}
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unilidar_sdk2
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)
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ament_target_dependencies(
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unitree_lidar_ros2_node
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rclcpp std_msgs
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sensor_msgs
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geometry_msgs
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tf2_ros
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pcl_conversions
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)
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install(TARGETS
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unitree_lidar_ros2_node
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DESTINATION lib/${PROJECT_NAME}
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)
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# install rviz file and launch file
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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install(DIRECTORY rviz/
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DESTINATION share/${PROJECT_NAME}/rviz
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)
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# install config files if they exist
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if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
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install(DIRECTORY config/
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DESTINATION share/${PROJECT_NAME}/config
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)
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endif()
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ament_package()
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@@ -0,0 +1 @@
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This is a ROS2 package for Unitree Lidar L2.
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@@ -0,0 +1,230 @@
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/**********************************************************************
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Copyright (c) 2020-2024, Unitree Robotics.Co.Ltd. All rights reserved.
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***********************************************************************/
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#pragma once
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#define BOOST_BIND_NO_PLACEHOLDERS
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#include <memory>
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#include "iostream"
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#include <string>
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#include <stdio.h>
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#include <iterator>
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#include <algorithm>
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#include <chrono>
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include "sensor_msgs/msg/point_cloud2.hpp"
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#include "sensor_msgs/msg/imu.hpp"
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#include "std_msgs/msg/header.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp/time.hpp"
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#include "tf2_ros/transform_broadcaster.h"
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#include "tf2/LinearMath/Quaternion.h"
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#include "geometry_msgs/msg/transform_stamped.hpp"
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// SDK
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#include "unitree_lidar_sdk_pcl.h"
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using std::placeholders::_1;
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class UnitreeLidarSDKNode : public rclcpp::Node
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{
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public:
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explicit UnitreeLidarSDKNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions());
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~UnitreeLidarSDKNode() {};
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void timer_callback();
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protected:
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// ROS
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_cloud_;
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rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr pub_imu_;
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rclcpp::TimerBase::SharedPtr timer_;
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std::shared_ptr<tf2_ros::TransformBroadcaster> broadcaster_;
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// Unitree Lidar Reader
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UnitreeLidarReader *lsdk_;
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// Config params
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int work_mode_;
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int initialize_type_;
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int local_port_;
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std::string local_ip_;
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int lidar_port_;
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std::string lidar_ip_;
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std::string serial_port_;
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int baudrate_;
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int cloud_scan_num_;
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bool use_system_timestamp_;
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double range_min_;
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double range_max_;
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std::string cloud_frame_;
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std::string cloud_topic_;
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std::string imu_frame_;
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std::string imu_topic_;
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};
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///////////////////////////////////////////////////////////////////
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UnitreeLidarSDKNode::UnitreeLidarSDKNode(const rclcpp::NodeOptions &options)
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: Node("unitre_lidar_sdk_node", options)
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{
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// load config parameters
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declare_parameter<int>("initialize_type", 2);
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declare_parameter<int>("work_mode", 0);
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declare_parameter<bool>("use_system_timestamp", true);
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declare_parameter<double>("range_min", 0);
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declare_parameter<double>("range_max", 50);
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declare_parameter<int>("cloud_scan_num", 18);
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declare_parameter<std::string>("serial_port", "/dev/ttyACM0");
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declare_parameter<int>("baudrate", 4000000);
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declare_parameter<int>("lidar_port", 6101);
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declare_parameter<std::string>("lidar_ip", "192.168.1.2");
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declare_parameter<int>("local_port", 6201);
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declare_parameter<std::string>("local_ip", "192.168.1.62");
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declare_parameter<std::string>("cloud_frame", "unilidar_lidar");
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declare_parameter<std::string>("cloud_topic", "unilidar/cloud");
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declare_parameter<std::string>("imu_frame", "unilidar_imu");
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declare_parameter<std::string>("imu_topic", "unilidar/imu");
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work_mode_ = get_parameter("work_mode").as_int();
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initialize_type_ = get_parameter("initialize_type").as_int();
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serial_port_ = get_parameter("serial_port").as_string();
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baudrate_ = get_parameter("baudrate").as_int();
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lidar_port_ = get_parameter("lidar_port").as_int();
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lidar_ip_ = get_parameter("lidar_ip").as_string();
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local_port_ = get_parameter("local_port").as_int();
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local_ip_ = get_parameter("local_ip").as_string();
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cloud_scan_num_ = get_parameter("cloud_scan_num").as_int();
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use_system_timestamp_ = get_parameter("use_system_timestamp").as_bool();
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range_max_ = get_parameter("range_max").as_double();
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range_min_ = get_parameter("range_min").as_double();
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cloud_frame_ = get_parameter("cloud_frame").as_string();
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cloud_topic_ = get_parameter("cloud_topic").as_string();
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imu_frame_ = get_parameter("imu_frame").as_string();
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imu_topic_ = get_parameter("imu_topic").as_string();
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// Initialize UnitreeLidarReader
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lsdk_ = createUnitreeLidarReader();
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std::cout << "initialize_type_ = " << initialize_type_ << std::endl;
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if (initialize_type_ == 1)
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{
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lsdk_->initializeSerial(serial_port_, baudrate_,
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cloud_scan_num_, use_system_timestamp_, range_min_, range_max_);
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}
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else if (initialize_type_ == 2)
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{
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lsdk_->initializeUDP(lidar_port_, lidar_ip_, local_port_, local_ip_,
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cloud_scan_num_, use_system_timestamp_, range_min_, range_max_);
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}
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else
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{
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std::cout << "initialize_type is not right! exit now ...\n";
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exit(0);
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}
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lsdk_->setLidarWorkMode(work_mode_);
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// ROS2
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broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
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pub_cloud_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(cloud_topic_, 10);
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pub_imu_ = this->create_publisher<sensor_msgs::msg::Imu>(imu_topic_, 10);
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timer_ = this->create_wall_timer(std::chrono::milliseconds(1), std::bind(&UnitreeLidarSDKNode::timer_callback, this));
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}
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void UnitreeLidarSDKNode::timer_callback()
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{
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int result = lsdk_->runParse();
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static pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
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// RCLCPP_INFO(this->get_logger(), "result = %d", result);
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if (result == LIDAR_IMU_DATA_PACKET_TYPE)
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{
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LidarImuData imu;
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lsdk_->getImuData(imu);
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if (lsdk_->getImuData(imu))
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{
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// publish imu message
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rclcpp::Time timestamp(imu.info.stamp.sec, imu.info.stamp.nsec);
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sensor_msgs::msg::Imu imuMsg;
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imuMsg.header.frame_id = imu_frame_;
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imuMsg.header.stamp = timestamp;
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imuMsg.orientation.x = imu.quaternion[0];
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imuMsg.orientation.y = imu.quaternion[1];
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imuMsg.orientation.z = imu.quaternion[2];
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imuMsg.orientation.w = imu.quaternion[3];
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imuMsg.angular_velocity.x = imu.angular_velocity[0];
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imuMsg.angular_velocity.y = imu.angular_velocity[1];
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imuMsg.angular_velocity.z = imu.angular_velocity[2];
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imuMsg.linear_acceleration.x = imu.linear_acceleration[0];
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imuMsg.linear_acceleration.y = imu.linear_acceleration[1];
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imuMsg.linear_acceleration.z = imu.linear_acceleration[2];
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pub_imu_->publish(imuMsg);
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// publish tf from imu to lidar
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geometry_msgs::msg::TransformStamped transformStamped;
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transformStamped.header.stamp = timestamp; // 使用IMU数据的时间戳保持同步
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transformStamped.header.frame_id = imu_frame_; // 父坐标系
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transformStamped.child_frame_id = cloud_frame_; // 子坐标系
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transformStamped.transform.translation.x = 0.007698;
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transformStamped.transform.translation.y = 0.014655;
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transformStamped.transform.translation.z = -0.00667;
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transformStamped.transform.rotation.x = 0;
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transformStamped.transform.rotation.y = 0;
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transformStamped.transform.rotation.z = 0;
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transformStamped.transform.rotation.w = 1;
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broadcaster_->sendTransform(transformStamped);
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}
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}
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else if (result == LIDAR_POINT_DATA_PACKET_TYPE)
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{
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// RCLCPP_INFO(this->get_logger(), "POINT_CLOUD");
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PointCloudUnitree cloud;
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if (lsdk_->getPointCloud(cloud))
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{
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transformUnitreeCloudToPCL(cloud, cloudOut);
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rclcpp::Time timestamp(
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static_cast<int32_t>(cloud.stamp),
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static_cast<uint32_t>((cloud.stamp - static_cast<int32_t>(cloud.stamp)) * 1e9));
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sensor_msgs::msg::PointCloud2 cloud_msg;
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pcl::toROSMsg(*cloudOut, cloud_msg);
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cloud_msg.header.frame_id = cloud_frame_;
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cloud_msg.header.stamp = timestamp;
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pub_cloud_->publish(cloud_msg);
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}
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}
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}
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Executable
+69
@@ -0,0 +1,69 @@
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import os
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from launch.substitutions import LaunchConfiguration
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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from launch.conditions import IfCondition
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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use_rviz = LaunchConfiguration('use_rviz')
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declare_use_rviz = DeclareLaunchArgument(
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'use_rviz',
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default_value='false',
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description='Whether to start RViz'
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)
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pkg_share = get_package_share_directory('unitree_lidar_ros2')
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rviz_config_file = os.path.join(pkg_share,
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'rviz',
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'view.rviz')
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# Run unitree lidar
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node1 = Node(
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package='unitree_lidar_ros2',
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executable='unitree_lidar_ros2_node',
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name='unitree_lidar_ros2_node',
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output='screen',
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parameters= [
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{'initialize_type': 1},
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{'work_mode': 8},
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{'use_system_timestamp': True},
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{'range_min': 0.0},
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{'range_max': 100.0},
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{'cloud_scan_num': 18},
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{'serial_port': '/dev/ttyACM1'},
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{'baudrate': 4000000},
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{'lidar_port': 6101},
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{'lidar_ip': '192.168.1.62'},
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{'local_port': 6201},
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{'local_ip': '192.168.1.2'},
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{'cloud_frame': "unilidar_lidar"},
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{'cloud_topic': "unilidar/cloud"},
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{'imu_frame': "unilidar_imu"},
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{'imu_topic': "unilidar/imu"},
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]
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)
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# Run Rviz
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_file],
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condition=IfCondition(use_rviz),
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output='log'
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)
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return LaunchDescription(
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[
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declare_use_rviz,
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node1,
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rviz_node,
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]
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)
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@@ -0,0 +1,28 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>unitree_lidar_ros2</name>
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<version>0.0.0</version>
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<description>unitree lidar ros2</description>
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<maintainer email="lukelbmeng@gmail.com">jo</maintainer>
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<license>GPLv3</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>pcl_conversions</depend>
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<depend>pcl</depend>
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<depend>geometry_msgs</depend>
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<depend>tf2_ros</depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@@ -0,0 +1,182 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /PointCloud21
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- /TF1
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- /TF1/Frames1
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Splitter Ratio: 0.5
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Tree Height: 607
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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||||
Offset:
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X: 0
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Y: 0
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||||
Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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||||
Autocompute Intensity Bounds: true
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||||
Autocompute Value Bounds:
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Max Value: 3.4900152683258057
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||||
Min Value: 0
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Value: true
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||||
Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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||||
Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 1
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||||
Enabled: true
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||||
Invert Rainbow: false
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||||
Max Color: 255; 255; 255
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||||
Max Intensity: 85
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||||
Min Color: 0; 0; 0
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||||
Min Intensity: 0
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||||
Name: PointCloud2
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||||
Position Transformer: XYZ
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||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /unilidar/cloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
unilidar_imu:
|
||||
Value: true
|
||||
unilidar_imu_initial:
|
||||
Value: true
|
||||
unilidar_lidar:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
|
||||
Tree:
|
||||
unilidar_imu_initial:
|
||||
unilidar_imu:
|
||||
unilidar_lidar:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: unilidar_lidar
|
||||
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
|
||||
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: 14.384671211242676
|
||||
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: 0.5603978037834167
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.785398006439209
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 836
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002eafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ea000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002eafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ea000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000049c000002ea00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1528
|
||||
X: 72
|
||||
Y: 27
|
||||
@@ -0,0 +1,14 @@
|
||||
/**********************************************************************
|
||||
Copyright (c) 2020-2024, Unitree Robotics.Co.Ltd. All rights reserved.
|
||||
***********************************************************************/
|
||||
|
||||
#include "unitree_lidar_ros2.h"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
const rclcpp::NodeOptions options;
|
||||
rclcpp::init(argc, argv);
|
||||
rclcpp::spin(std::make_shared<UnitreeLidarSDKNode>());
|
||||
rclcpp::shutdown();
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user