More than 1 year has passed since last update.

YDLIDAR T-mini ProをROS2(Humble)上で使う

Posted at 2022-12-15

SLAMで地図作成するための準備として、YDLIDAR T-mini ProをROS2(Humble)上で使えるようにします。

使うもの

YDLIDAR T-mini Pro
- https://www.switch-science.com/products/8614
- 測距距離：0.02 ～ 12 m
- 測距周期：最大 4000 Hz
- スキャニング周期：6～12 Hz
- データシート
  - https://www.ydlidar.com/Public/upload/files/2022-09-06/YDLIDAR%20T-mini%20Pro%20Data%20Sheet_V0.2.0%20(220831).pdf
- ユーザマニュアル
  - https://www.ydlidar.com/Public/upload/files/2022-11-11/YDLIDAR%20T-mini%20Pro%20User%20Manual_V0.1.0%20(221024).pdf
Ubuntu PC
- OS : Ubuntu 22.04.1 LTS (arm64)
- ROS : ROS2 Humble

参考手順

https://zenn.dev/tasada038/articles/c4fff08deae9dd

事前準備

Ubuntu22.04環境をセットアップ
ROS2 Humbleをインストール
- https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

準備1 : YDLidar-SDKをインストール

公式手順
- https://github.com/YDLIDAR/YDLidar-SDK/blob/master/doc/howto/how_to_build_and_install.md
YDLidar-SDKをビルド＆インストール

sudo apt install cmake pkg-config
sudo apt-get install python3 swig
sudo apt-get install python3-pip

git clone https://github.com/YDLIDAR/YDLidar-SDK.git
mkdir YDLidar-SDK/build
cd YDLidar-SDK/build
cmake ..
make
sudo make install

cd ~/YDLidar-SDK/
pip3 install .

YDLidar-SDKのインストールが終了したら、ydlidarをインポートできるか確認しておきます。

python3
>>> import ydlidar
>>>

実行権限の追加

sudo gpasswd --add $USER dialout
sudo reboot

正しく追加できたかは、idコマンドで確認します。

ubuntu@ubuntu-desktop:~$ id
uid=1000(ubuntu) gid=1000(ubuntu) groups=1000(ubuntu),4(adm),20(dialout),24(cdrom),27(sudo),30(dip),46(plugdev),123(lpadmin),135(lxd),136(sambashare)
ubuntu@ubuntu-desktop:~$

動作チェック

テストプログラムが実行できるか確認します。

cd ~/YDLidar-SDK/build
./tri_test

Baudrateはデータシートを確認して、「230400」にしました。

ubuntu@ubuntu-desktop:~/YDLidar-SDK/build$ ./tri_test
__   ______  _     ___ ____    _    ____
\ \ / /  _ \| |   |_ _|  _ \  / \  |  _ \
 \ V /| | | | |    | || | | |/ _ \ | |_) |
  | | | |_| | |___ | || |_| / ___ \|  _ <
  |_| |____/|_____|___|____/_/   \_\_| \_\

Baudrate:
0. 115200
1. 128000
2. 153600
3. 230400
4. 460800
5. 512000
Please select the lidar baudrate:3
Whether the Lidar is one-way communication[yes/no]:yes
YDLidar SDK initializing
YDLidar SDK has been initialized
[YDLIDAR]:SDK Version: 1.1.2
LiDAR successfully connected
[YDLIDAR]:Lidar running correctly ! The health status: good
LiDAR init success, Elapsed time 636 ms
Start to getting intensity flag
End to getting intensity flag
[CYdLidar] Successed to start scan mode, Elapsed time 2061 ms
[YDLIDAR] Fixed Size: 720
[YDLIDAR] Sample Rate: 3K
[YDLIDAR] Fixed Size: 720
[YDLIDAR] Sample Rate: 3K
[YDLIDAR]:Single Fixed Size: 670
[YDLIDAR]:Sample Rate: 3K
[YDLIDAR INFO] Single Channel Current Sampling Rate: 3K
[YDLIDAR INFO] Now YDLIDAR is scanning ......
[YDLIDAR]: User version 0.33
[YDLIDAR] Connection established in [/dev/ttyUSB0][230400]:
Firmware version: 1.0
Hardware version: 2
Model: T1
Serial: 2022111800010054
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
Scan received [670] points inc [0.009392]
^Csignal_handler(2)
Scan received [670] points inc [0.009392]
281473594396928 thread has been canceled
[YDLIDAR INFO] Now YDLIDAR Scanning has stopped ......
ubuntu@ubuntu-desktop:~/YDLidar-SDK/build$

準備2 : YDLidarのROS2パッケージをインストール

mkdir -p ydlidar_ros2_ws/src
cd ydlidar_ros2_ws/src/
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git
cd ..
colcon build --symlink-install

ここで、ビルドエラーが発生しました。Pull requests に対策済みソースがあったため、そのまま利用しました。

https://github.com/YDLIDAR/ydlidar_ros2_driver/pull/20

ビルド結果を消した上で、再ビルドすると、ビルド成功しました。

rm -rf build/ install/ log/
colcon build --symlink-install

echo "source ~/ydlidar_ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

chmod 0777 src/ydlidar_ros2_driver/startup/*
sudo sh src/ydlidar_ros2_driver/startup/initenv.sh

準備3 : LiDARノードのコンフィグ作成

ydlidar_ros2_driverパッケージには、デバイス種類毎の設定ファイルが格納されていませんでした。

ROS1パッケージの以下を参考に、T-mini用の設定ファイルを作成します。

https://github.com/YDLIDAR/ydlidar_ros_driver/blob/master/launch/Tmini.launch

適宜以下の説明を参照しました。

https://github.com/YDLIDAR/ydlidar_ros2_driver#configure-ydlidar_ros_driver-internal-parameter

今回は、以下の2ファイルを作成しました。

ydlidar_ros2_driver/params/Tmini.yaml
ydlidar_ros2_driver/launch/Tmini_launch.py

ydlidar.yamlをコピーしてTmini.yamlを作成。差分は以下の通り。

-    sample_rate: 9
+    sample_rate: 4
-    intensity: false
+    intensity: true
-    range_max: 64.0
-    range_min: 0.01
-    frequency: 10.0
+    range_max: 16.0
+    range_min: 0.02
+    frequency: 6.0

Tmini.yamlの全設定値は以下の通り。(Pull requestsの内容も反映済み)

ydlidar_ros2_driver_node:
  ros__parameters:
    port: /dev/ttyUSB0
    frame_id: laser_frame
    ignore_array: ""
    baudrate: 230400
    lidar_type: 1
    device_type: 0
    sample_rate: 4
    abnormal_check_count: 4
    fixed_resolution: true
    reversion: true
    inverted: true
    auto_reconnect: true
    isSingleChannel: false
    intensity: true
    support_motor_dtr: false
    angle_max: 180.0
    angle_min: -180.0
    range_max: 16.0
    range_min: 0.02
    frequency: 6.0
    invalid_range_is_inf: false

ydlidar_launch.pyをコピーしてTmini_launch.pyを作成します。差分は以下の通りです。

     params_declare = DeclareLaunchArgument('params_file',
                                            default_value=os.path.join(
-                                               share_dir, 'params', 'ydlidar.yaml'),
+                                               share_dir, 'params', 'Tmini.yaml'),
                                            description='FPath to the ROS2 parameters file to use.')

ここでは、lauchパラメータparams_fileのデフォルト値を変更しただけです
launch実行時にパラメータ指定して利用する場合、このファイルは作成不要です

ROS2ノードの動作確認

ROS2のLiDARノードを起動

ros2 launch ydlidar_ros2_driver Tmini_launch.py

rviz2でLaserScanを見る

config/ydlidar.rvizを引数に指定してrivz2を起動することで、点群データが表示されることを確認できました。

rviz2 -d ydlidar_ros2_ws/src/ydlidar_ros2_driver/config/ydlidar.rviz

LiDARノードの起動ログ

ubuntu@ubuntu-desktop:~/ydlidar_ros2_ws$ ros2 launch ydlidar_ros2_driver Tmini_launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-12-12-22-48-33-694066-ubuntu-desktop-34657
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_ros2_driver_node-1]: process started with pid [34669]
[INFO] [static_transform_publisher-2]: process started with pid [34671]
[static_transform_publisher-2] [WARN] [1670852914.346607953] []: Old-style arguments are deprecated; see --help for new-style arguments
[ydlidar_ros2_driver_node-1] [INFO] [1670852914.384261830] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.2
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] YDLidar SDK initializing
[ydlidar_ros2_driver_node-1] YDLidar SDK has been initialized
[ydlidar_ros2_driver_node-1] [YDLIDAR]:SDK Version: 1.1.2
[static_transform_publisher-2] [INFO] [1670852914.411967297] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.020000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[ydlidar_ros2_driver_node-1] LiDAR successfully connected
[ydlidar_ros2_driver_node-1] [YDLIDAR]:Lidar running correctly ! The health status: good
[ydlidar_ros2_driver_node-1] [YDLIDAR] Connection established in [/dev/ttyUSB0][230400]:
[ydlidar_ros2_driver_node-1] Firmware version: 1.0
[ydlidar_ros2_driver_node-1] Hardware version: 2
[ydlidar_ros2_driver_node-1] Model: T-mini Pro
[ydlidar_ros2_driver_node-1] Serial: 2022111800010054
[ydlidar_ros2_driver_node-1] [YDLIDAR INFO] Current Scan Frequency: 6.000000Hz
[ydlidar_ros2_driver_node-1] LiDAR init success, Elapsed time 828 ms
[ydlidar_ros2_driver_node-1] Start to getting intensity flag
[ydlidar_ros2_driver_node-1] lastPos 470 currPos 484 offset 14
[ydlidar_ros2_driver_node-1] Auto set intensity 1
[ydlidar_ros2_driver_node-1] End to getting intensity flag
[ydlidar_ros2_driver_node-1] [CYdLidar] Successed to start scan mode, Elapsed time 1902 ms
[ydlidar_ros2_driver_node-1] [YDLIDAR] Fixed Size: 677
[ydlidar_ros2_driver_node-1] [YDLIDAR] Sample Rate: 4K
[ydlidar_ros2_driver_node-1] [YDLIDAR INFO1] Current Sampling Rate : 4K
[ydlidar_ros2_driver_node-1] [YDLIDAR INFO] Now YDLIDAR is scanning ......

You get articles that match your needs
You can efficiently read back useful information
You can use dark theme

What you can do with signing up