OrangePi 5：ROS2 Humble中使用激光雷达
文章目录
- OrangePi 5：ROS2 Humble中使用激光雷达
- 1、硬件准备
- 2、ROS2 Humble安装
- 2.1 使用集成脚本安装
- 2.2 按ROS2官方指导安装
- 2.3 ROS2安装验证
- 3、YDLIDAR X2激光雷达驱动安装
- 3.1 YDLIDAR X2激光雷达介绍
- 3.2 YDLIDAR X2激光雷达SDK安装
- 3.3 YDLIDAR X2激光雷达驱动修改与安装
- 4、YDLIDAR X2激光雷达ROS2驱动验证
本文将详细介绍如何在OrangePi5开发板中搭建ROS2开发环境，并在ROS2环境中使用激光雷达。
1、硬件准备
本次实例将使用到如下硬件模块：
- OrangePi5开发板（OrangePi5 B或OrangePi 5 Plus）（如果是OrangePi 5开发板，还需要WiFi模块）
- YDLIDAR X2激光雷达
YDLIDAR X2激光雷达通过USB接口接入OrangePi 5开发板。
2、ROS2 Humble安装
本次实例将使用ROS2的版本为Humble，该版本为ROS2的长期版本，在Ubuntu 22.04中运行良好。在这时，我们在OrangePi 5开发板中使用的操作为官方提供的Ubuntu操作系统，该操作操作系统支持NPU、GPU，因此在使用ROS2的可视化时，能够进行硬件加速。
请下载桌面版本镜像安装。
2.1 使用集成脚本安装
在OrangePi5中，安装ROS2有两种方式，一种是OrangePi 5官方提供的ROS2安装脚本，另外一种是参考ROS2官方提供的安装方法。
OrangePi5官方提供的ROS2安装脚本，只需要在命令行终端中运行如下命令即可自动完成安装即可：
orangepi@orangepi:~$ install_ros.sh ros2
在完成安装后，可以通过运行
ros2 -h
来判断是否完成安装。
2.2 按ROS2官方指导安装
第一步，配置操作系统的Local，包含语言等，只需要在命令行中，执行如下命令即可：
locale # check for UTF-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale # 验证设置
第二步，添加ROS2安装源
sudo apt install software-properties-common
sudo add-apt-repository universe
添加ROS2 GPG密钥
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
请注意，githubusercontent在国内可能下载不了，可以在这里下载：
- https://gitee.com/vision-intelligence/iot-course-code-pub/blob/master/ros.key
下载完成后，执行命令复制
sudo cp ros.key /usr/share/keyrings/ros-archive-keyring.gpg
添加ROS2安装源到source列表中
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
第三步，安装ROS2相关包
sudo apt-get update
在上面命令完成后，建议更新Ubuntu操作系统。可以执行如下命令：
sudo apt-get upgrade
接着，执行如下命令，安装ROS2
sudo apt install ros-humble-desktop
如果需要完整安装，请执行：
sudo apt install ros-humble-desktop-full
最后，安装ROS工具
sudo apt install ros-dev-tools
2.3 ROS2安装验证
1）环境配置，执行如下命令将ROS的环境添加到当前Shell中，
source /opt/ros/humble/setup.sh
或者
source /opt/ros/humble/setup.bash
2）运行简单示例。在这里，我们运行Talker-Listener示例，Talker负责发布消息，Listener负责订阅和接收消息。
启动Talker：
source /opt/ros/humble/setup.sh
ros2 run demo_nodes_cpp talker
启动Listener：
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener
我们将看到如下结果：
3、YDLIDAR X2激光雷达驱动安装
3.1 YDLIDAR X2激光雷达介绍
YDLIDAR X2 激光雷达是深圳玩智商科技有限公司（EAI）研发的一款 360 度二维测距产 品（以下简称：X2）。本产品基于三角测距原理，并配以相关光学、电学、算法设计，实现 高频高精度的距离测量，在测距的同时，机械结构 360 度旋转，不断获取角度信息，从而实 现了 360 度扫描测距，输出扫描环境的点云数据。
YDLIDAR X2激光雷达具有如下特性：
- 360 度全方位扫描测距
- 测距误差小，测距稳定性好，精度高
- 测距范围广
- 抗环境光干扰能力强
- 功耗低，体积小，性能稳定，寿命长
- 激光功率满足 Class I 级别的激光器安全标准
- 电机转速可调，建议使用转速 6Hz
- 测距频率可达 3kHz
3.2 YDLIDAR X2激光雷达SDK安装
首先，下载YDLIDAR X2激光雷达SDK：
git clone https://github.com/YDLIDAR/YDLidar-SDK
接着，编译并安装YDLIDAR X2激光雷达SDK
cd YDLidar-SDK
mkdir build
cd build
cmake ..
make -j8 && sudo make install
3.3 YDLIDAR X2激光雷达驱动修改与安装
首先，创建一个ROS2工作空间目录
mkdir -p ydlidar_ros2_ws/src
接着下载，YDLIDAR X2激光雷达的ROS2驱动：
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver
请注意，当前YDLIDAR提供的ROS2驱动，对ROS2的Humble版本API并不兼容，需要对ydlidar_ros2_driver_node.cpp这个文件进行修改。修改结果如下：
/*
* YDLIDAR SYSTEM
* YDLIDAR ROS 2 Node
*
* Copyright 2017 - 2020 EAI TEAM
* http://www.eaibot.com
*
*/
#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif
#include "src/CYdLidar.h"
#include <math.h>
#include <chrono>
#include <iostream>
#include <memory>
#include "rclcpp/clock.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/time_source.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "std_srvs/srv/empty.hpp"
#include <vector>
#include <iostream>
#include <string>
#include <signal.h>
#define ROS2Verision "1.0.1"
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("ydlidar_ros2_driver_node");
RCLCPP_INFO(node->get_logger(), "[YDLIDAR INFO] Current ROS Driver Version: %s\n", ((std::string)ROS2Verision).c_str());
CYdLidar laser;
std::string str_optvalue = "/dev/ydlidar";
node->declare_parameter("port",str_optvalue);
node->get_parameter("port", str_optvalue);
///lidar port
laser.setlidaropt(LidarPropSerialPort, str_optvalue.c_str(), str_optvalue.size());
///ignore array
str_optvalue = "";
node->declare_parameter("ignore_array",str_optvalue);
node->get_parameter("ignore_array", str_optvalue);
laser.setlidaropt(LidarPropIgnoreArray, str_optvalue.c_str(), str_optvalue.size());
std::string frame_id = "laser_frame";
node->declare_parameter("frame_id", frame_id);
node->get_parameter("frame_id", frame_id);
//int property/
/// lidar baudrate
int optval = 230400;
node->declare_parameter("baudrate",optval);
node->get_parameter("baudrate", optval);
laser.setlidaropt(LidarPropSerialBaudrate, &optval, sizeof(int));
/// tof lidar
optval = TYPE_TRIANGLE;
node->declare_parameter("lidar_type",optval);
node->get_parameter("lidar_type", optval);
laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
/// device type
optval = YDLIDAR_TYPE_SERIAL;
node->declare_parameter("device_type",optval);
node->get_parameter("device_type", optval);
laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
/// sample rate
optval = 9;
node->declare_parameter("sample_rate",optval);
node->get_parameter("sample_rate", optval);
laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));
/// abnormal count
optval = 4;
node->declare_parameter("abnormal_check_count",optval);
node->get_parameter("abnormal_check_count", optval);
laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int));
/// Intenstiy bit count
optval = 8;
node->declare_parameter("intensity_bit", optval);
node->get_parameter("intensity_bit", optval);
laser.setlidaropt(LidarPropIntenstiyBit, &optval, sizeof(int));
//bool property/
/// fixed angle resolution
bool b_optvalue = false;
node->declare_parameter("fixed_resolution",b_optvalue);
node->get_parameter("fixed_resolution", b_optvalue);
laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));
/// rotate 180
b_optvalue = true;
node->declare_parameter("reversion",b_optvalue);
node->get_parameter("reversion", b_optvalue);
laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));
/// Counterclockwise
b_optvalue = true;
node->declare_parameter("inverted",b_optvalue);
node->get_parameter("inverted", b_optvalue);
laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));
b_optvalue = true;
node->declare_parameter("auto_reconnect",b_optvalue);
node->get_parameter("auto_reconnect", b_optvalue);
laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));
/// one-way communication
b_optvalue = false;
node->declare_parameter("isSingleChannel",b_optvalue);
node->get_parameter("isSingleChannel", b_optvalue);
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
node->declare_parameter("intensity",b_optvalue);
node->get_parameter("intensity", b_optvalue);
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
node->declare_parameter("support_motor_dtr",b_optvalue);
node->get_parameter("support_motor_dtr", b_optvalue);
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
//float property/
/// unit: °
float f_optvalue = 180.0f;
node->declare_parameter("angle_max",f_optvalue);
node->get_parameter("angle_max", f_optvalue);
laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float));
f_optvalue = -180.0f;
node->declare_parameter("angle_min",f_optvalue);
node->get_parameter("angle_min", f_optvalue);
laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float));
/// unit: m
f_optvalue = 64.f;
node->declare_parameter("range_max",f_optvalue);
node->get_parameter("range_max", f_optvalue);
laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));
f_optvalue = 0.1f;
node->declare_parameter("range_min",f_optvalue);
node->get_parameter("range_min", f_optvalue);
laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));
/// unit: Hz
f_optvalue = 10.f;
node->declare_parameter("frequency",f_optvalue);
node->get_parameter("frequency", f_optvalue);
laser.setlidaropt(LidarPropScanFrequency, &f_optvalue, sizeof(float));
bool invalid_range_is_inf = false;
node->declare_parameter("invalid_range_is_inf",invalid_range_is_inf);
node->get_parameter("invalid_range_is_inf", invalid_range_is_inf);
bool ret = laser.initialize();
if (ret) {
ret = laser.turnOn();
} else {
RCLCPP_ERROR(node->get_logger(), "%s\n", laser.DescribeError());
}
auto laser_pub = node->create_publisher<sensor_msgs::msg::LaserScan>("scan", rclcpp::SensorDataQoS());
auto stop_scan_service =
[&laser](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> req,
std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool
{
return laser.turnOff();
};
auto stop_service = node->create_service<std_srvs::srv::Empty>("stop_scan",stop_scan_service);
auto start_scan_service =
[&laser](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> req,
std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool
{
return laser.turnOn();
};
auto start_service = node->create_service<std_srvs::srv::Empty>("start_scan",start_scan_service);
rclcpp::WallRate loop_rate(20);
while (ret && rclcpp::ok()) {
LaserScan scan;//
if (laser.doProcessSimple(scan)) {
auto scan_msg = std::make_shared<sensor_msgs::msg::LaserScan>();
scan_msg->header.stamp.sec = RCL_NS_TO_S(scan.stamp);
scan_msg->header.stamp.nanosec = scan.stamp - RCL_S_TO_NS(scan_msg->header.stamp.sec);
scan_msg->header.frame_id = frame_id;
scan_msg->angle_min = scan.config.min_angle;
scan_msg->angle_max = scan.config.max_angle;
scan_msg->angle_increment = scan.config.angle_increment;
scan_msg->scan_time = scan.config.scan_time;
scan_msg->time_increment = scan.config.time_increment;
scan_msg->range_min = scan.config.min_range;
scan_msg->range_max = scan.config.max_range;
int size = (scan.config.max_angle - scan.config.min_angle)/ scan.config.angle_increment + 1;
scan_msg->ranges.resize(size);
scan_msg->intensities.resize(size);
for(size_t i=0; i < scan.points.size(); i++) {
int index = std::ceil((scan.points[i].angle - scan.config.min_angle)/scan.config.angle_increment);
if(index >=0 && index < size) {
scan_msg->ranges[index] = scan.points[i].range;
scan_msg->intensities[index] = scan.points[i].intensity;
}
}
laser_pub->publish(*scan_msg);
} else {
RCLCPP_ERROR(node->get_logger(), "Failed to get scan");
}
if(!rclcpp::ok()) {
break;
}
rclcpp::spin_some(node);
loop_rate.sleep();
}
RCLCPP_INFO(node->get_logger(), "[YDLIDAR INFO] Now YDLIDAR is stopping .......");
laser.turnOff();
laser.disconnecting();
rclcpp::shutdown();
return 0;
}
主要修改declare_parameter调用方式。在Humble版本中，C++客户端API中Node类的declare_parameter需要显示指定默认参数。
最后，在命令行中选择如下命令完成驱动编译
cd ydlidar_ros2_ws
colcon build --symlink-install
4、YDLIDAR X2激光雷达ROS2驱动验证
在完成YDLIDAR X2激光雷达的SDK和ROS2驱动之后，接下来的工具是验证YDLIDAR X2激光雷达在ROS2环境中是否能够正常工作。
第一步，安装USB设备识别。在ydlidar_ros2_ws目录中，运行如下命令：
sudo sh src/ydlidar_ros2_driver/startup/initenv.sh
第二步，配置环境，在中运行如下命令：
source /opt/ros/humble/setup.sh
source install/settup.sh
第三步，启动YDLIDAR X2激光雷达服务节点
请注意，ydlidar_ros2_driver/launch的ydlidar_launch.py、ydlidar_launch_view.py与ROS2 Humble版本不兼容，需要修改。
ydlidar_launch.py文件修改后的内容如下：
#!/usr/bin/python3
# Copyright 2020, EAIBOT
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import LogInfo
import lifecycle_msgs.msg
import os
def generate_launch_description():
share_dir = get_package_share_directory('ydlidar_ros2_driver')
parameter_file = LaunchConfiguration('params_file')
node_name = 'ydlidar_ros2_driver_node'
params_declare = DeclareLaunchArgument('params_file',
default_value=os.path.join(
share_dir, 'params', 'X2.yaml'),
description='FPath to the ROS2 parameters file to use.')
driver_node = LifecycleNode(package='ydlidar_ros2_driver',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
namespace='/',
)
tf2_node = Node(package='tf2_ros',
executable='static_transform_publisher',
name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
)
return LaunchDescription([
params_declare,
driver_node,
tf2_node,
])
由于我们使用的是X2型号激光雷达，因此需要使用X2的参数文件：
params_declare = DeclareLaunchArgument('params_file',
default_value=os.path.join(
share_dir, 'params', 'X2.yaml'),
description='FPath to the ROS2 parameters file to use.')
ydlidar_launch_view.py文件修改后的内容如下：
#!/usr/bin/python3
# Copyright 2020, EAIBOT
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import LogInfo
import lifecycle_msgs.msg
import os
def generate_launch_description():
share_dir = get_package_share_directory('ydlidar_ros2_driver')
rviz_config_file = os.path.join(share_dir, 'config','ydlidar.rviz')
parameter_file = LaunchConfiguration('params_file')
node_name = 'ydlidar_ros2_driver_node'
params_declare = DeclareLaunchArgument('params_file',
default_value=os.path.join(
share_dir, 'params', 'ydlidar.yaml'),
description='FPath to the ROS2 parameters file to use.')
driver_node = LifecycleNode(package='ydlidar_ros2_driver',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
namespace='/',
)
tf2_node = Node(package='tf2_ros',
executable='static_transform_publisher',
name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
)
rviz2_node = Node(package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_file],
)
return LaunchDescription([
params_declare,
driver_node,
tf2_node,
rviz2_node,
])
接着来，在命令行终端中分别启动launch和launch_view这两个服务：
1）启动ydlidar_launch.py
source /opt/ros/humble/setup.sh
source install/settup.sh
ros2 launch ydlidar_ros2_driver ydlidar_launch.py
2）启动ydlidar_launch_view.py
source /opt/ros/humble/setup.sh
source install/settup.sh
ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py
可以看到，YDLIDAR X2激光雷达已经成功整合到ROS2中。
