TurtleBot3入门教程#ROS2版#-雷达测试

文章说明

• 本教程主要介绍如何测试雷达

相关设备

• TB3套件：采购地址

操作步骤

• 测试前请检查机器上使用的雷达，然后根据当前机器使用的雷达来执行对应的命令

• lds-01雷达

• lds-02雷达
  

• [TurtleBot] 单独启动雷达

# 启动lds-01雷达
$ ros2 launch hls_lfcd_lds_driver hlds_laser.launch.py

# 启动lds-02雷达
$ ros2 launch ld08_driver ld08.launch.py

• [Remote PC] 检查是否有话题数据输出

$ ros2 topic echo /scan

若没有内容输出，则需要检查雷达是否正常启动和PC端是否配置好环境，比如ROS ID或者是否在同一网段

• [Remote PC] 启动RViz2

$ rviz2

• 如果使用的是lds-01雷达默认的frame为laser，lds-02雷达则为base_scan

• 将RViz2左侧边栏的Displays窗口的Fixed Frame一项的值改为laser或base_scan

• 点击Add按钮，添加LaserScan显示项

• 同时设置Topic项为/Scan

• 效果如下图所示

FAQ

问题1：RViz2提示QoS不兼容

[WARN] [1735115926.697536225] [rviz]: New publisher discovered on topic '/scan', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

• 解决方法：检查QOS，确保QOS匹配，在RViz2中LaserScan-> Topic -> Reliability policy和Durability policy这两项设置与发布的qos对应

$ ros2 topic info /scan -v
Type: sensor_msgs/msg/LaserScan

Publisher count: 1san

Node name: ld08_driver
Node namespace: /
Topic type: sensor_msgs/msg/LaserScan
Endpoint type: PUBLISHER
GID: 01.0f.d7.f7.7f.09.fa.d6.00.00.00.00.00.00.12.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: BEST_EFFORT
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 1

Node name: rviz
Node namespace: /
Topic type: sensor_msgs/msg/LaserScan
Endpoint type: SUBSCRIPTION
GID: 01.0f.24.7c.8c.11.84.ca.00.00.00.00.00.00.1c.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: BEST_EFFORT
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite