ROS2 驱动思岚G4雷达（ydlidar）- Rviz显示
记录G4雷达的配置
系统环境为：Ubuntu22.04
配置步骤
1、安装雷达SDK
2、构建 G4 雷达 ROS2 项目工程文件
3、使用Rviz可视化界面显示
1、安装雷达SDK
1.1 安装CMake
YDLidar SDK需要CMake 2.8.2+作为依赖项
- Ubuntu 18.04或者Ubuntu 22.04
sudo apt install cmake pkg-config
如果使用python API，您需要安装python和swig（3.0或更高版本）
sudo apt-get install python swig
sudo apt-get install python-pip
1.2 构建YDLidar SDK
在YDLidar SDK目录中，运行以下命令来编译项目：
git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK/build
cmake ..
make
sudo make install
注意：如果已经安装了python和swig，sudo make install命令也将安装python API，而无需执行以下操作，在这里建议大家还是使用一次 sudo make install 确认安装成功
至此，若在编译过程中未出现错误，即为SDK安装成功
2、构建 G4 雷达 ROS2 项目工程文件
2.1 编译和安装YDLidar SDK
ydlidar_ros2_driver依赖于ydlidar SDK库。如果从未安装过YDLidar SDK库，则必须首先安装YDLidar SDK库，具体的可以参考上一点：
2.2 Cylinder_ros2_driver克隆
（1）为github克隆ydlidar_ros2_driver包：
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver
（2）构建ydlidar_ros2_driver包
cd ydlidar_ros2_ws
colcon build --symlink-install
（3）程序包环境设置：
将工作空间添加到环境变量里面
source ./install/setup.bash
同样可以使用比较长久的方法：
echo "source ~/ydlidar_ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc
在这里 “~/ydlidar_ros2_ws/install/setup.bash路径要对应上自己的工作空间当中的setup.bash位置。
（4）确认要确认包路径已设置，请打印grep-i ROS变量
printenv | grep -i ROS
应该看到类似的内容：OLDPWD=/home/tony/ydlidar_ros2_ws/install
（5）创建串行端口别名[可选]
sudo chmod 0777 src/ydlidar_ros2_driver/startup/*
sudo sh src/ydlidar_ros2_driver/startup/initenv.sh
3、使用Rviz可视化界面显示
使用启动文件运行ydlidar_ros2_driver
3.1 运行雷达启动launch文件
ros2 launch ydlidar_ros2_driver ydlidar_launch.py
或者
ros2 launch $(ros2 pkg prefix ydlidar_ros2_driver)/share/ydlidar_ros2_driver/launch/ydlidar.py
3.2运行可视化界面
如果想要运行可视化界面的话可以使用一下命令，单独在终端里运行即可
ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py
3、查看一下雷达扫描话题信息
ros2 run ydlidar_ros2_driver ydlidar_ros2_driver_client or ros2 topic echo /scan
问题解决
1、launch文件修改
在编译过程当中，出现了ydlidar_launch_view.py文件或者ydlidar_launch.py文件中的
[ERROR] [launch]: Caught exception in launch LifecycleNode: __init__() missing 1 required keyword-only argument: 'node_executable'
这样的错误警告，将两个文件当中含有node_[后缀名称]更改为[后缀名称即可]
例如，在本次报错当中，需要将LifecycleNode这个节点的node_executable更改为executable即可，其他的node_name同样的更改为 name
#!/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,
])
上图对应的是 "ydlidar_launch_view.py"文件，然后ydlidar_launch.py文件中对应的两个参数，也就是node_executable和node_name 两个变量名字做出修改，修改后如下代码所示：
#!/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', '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'],
)
return LaunchDescription([
params_declare,
driver_node,
tf2_node,
])
建议使用 vscode 编辑器对文本进行更改，以便可以重复撤回和更加便携式的文本切换
2、如果出现node节点链接错误
然后就是在编译过程（colcon build --symlink-install）中，如果出现node节点链接错误的情况，需要更改当前目录下的
ydlidar_ros2_driver/src/ydlidar_ros2_driver_node.cpp 这个文件内容（直接复制替换即可）
/*
* YDLIDAR SYSTEM
* YDLIDAR ROS 2 Node
*
* Copyright 2017 - 2020 EAI TEAM
* http://www.eaibot.com
*
*/
/* Modified for Humble by @lghrainbow 10/2022 */
#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif
#include "src/CYdLidar.h"
#include 完结撒花
Redamancy