ROS2(Foxy)でYD-LiDARを動かす(Jetson AGX Xavier)

Jetson AGX Xavierを用いて、ROS2(Foxy)でYD-LiDARを動かした時のメモ

YDLidar-SDKのインストール

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

YDLiDAR ROS2のインストール

cd ~/ros_ws/src
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver

~/ros_ws/src/ydlidar_ros2_driver/params/から、使用する機種のyamlを~/ros_ws/src/ydlidar_ros2_driver/params/ydlidar.yamlにコピー。接続しているUSBポートを修正。frame_idのlaser_frameをbase_scanに修正。

ydlidar_ros2_driver_node:
  ros__parameters:
    port: /dev/ttyUSB0
    frame_id: base_scan
    ignore_array: ""
    baudrate: 128000
    lidar_type: 1
    device_type: 0
    sample_rate: 5
    abnormal_check_count: 4
    resolution_fixed: true
    reversion: true
    inverted: true
    auto_reconnect: true
    isSingleChannel: false
    intensity: false
    support_motor_dtr: true
    angle_max: 180.0
    angle_min: -180.0
    range_max: 64.0
    range_min: 0.01
    frequency: 10.0
    invalid_range_is_inf: false

cd ~/ros_ws/
colcon build --symlink-install --base-paths src/ydlidar_ros2_driver
source install/setup.bash

ROS2 Nav2連携(Turtlebot3側)

標準LiDARの記述をLaunchファイルでコメントアウト。

robot.launch.py

...
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [ThisLaunchFileDir(), '/turtlebot3_state_publisher.launch.py']),
            launch_arguments={'use_sim_time': use_sim_time}.items(),
        ),

        #IncludeLaunchDescription(
        #    PythonLaunchDescriptionSource([lidar_pkg_dir, '/hlds_laser.launch.py']),
        #    launch_arguments={'port': '/dev/ttyUSB0', 'frame_id': 'base_scan'}.items(),
        #),

        Node(
            package='turtlebot3_node',
            executable='turtlebot3_ros',
            parameters=[tb3_param_dir],
            arguments=['-i', usb_port],
            output='screen'),
    ])
...

ros2 launch turtlebot3_bringup robot.launch.py
ros2 launch ydlidar_ros2_driver ydlidar_launch.py