OrangePi5：ROS2Humble中使用激光雷达

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 raw.githubusercontent /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：

gitee /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 github /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 github /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:// .eaibot * */ #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:// .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:// .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。