bluesealidar / bluesea-ros2 Goto Github PK
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Lanhai LiDAR driver for ROS2
colcon build 之后一大批错误:
/home/ben/ros2_ws/src/bluesea-ros2/src/bluesea_node.cpp:989:73: error: invalid conversion from ‘int’ to ‘int*’ [-fpermissive]
989 | g_reader = StartUartReader(g_type.c_str(),port.c_str(), baud_rate, rates, parsers[0], hubs[0],Savelog,logPath.c_str());
| ^~~~~~~~~
| |
| int
Failed <<< bluesea2 [12.8s, exited with code 2]
I have finished the colcon build of bluesea2, but when I try to launch it, the error happened.
All the operation was SSH to my raspberry Pi CM4, and LSS-40S-B20E44 Lidar was connect to ttyACM0 use raspberry pi's GPIO as UART.
pi@raspberrypi:~/ros2_serial_ws $ ros2 launch bluesea2 LSS-40S-B20E44.launch
[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2022-11-10-07-58-34-681500-raspberrypi-2741
[INFO] [launch]: Default logging verbosity is set to INFO
Current ROS2 Version: foxy
[INFO] [bluesea_node-1]: process started with pid [2754]
[bluesea_node-1] we will connect to 1 lidars
[bluesea_node-1] lidar[0] address 192.168.0.98:6543, topic `scan
[bluesea_node-1] [0] => 53
[bluesea_node-1] [1] => 48
[bluesea_node-1] [2] => 48
[bluesea_node-1] [3] => 48
[bluesea_node-1] [4] => 48
[bluesea_node-1] [5] => 48
[bluesea_node-1] [6] => 44
[bluesea_node-1] [7] => 32
[bluesea_node-1] [8] => 55
[bluesea_node-1] [9] => 54
[bluesea_node-1] [10] => 56
[bluesea_node-1] [11] => 48
[bluesea_node-1] [12] => 48
[bluesea_node-1] [13] => 48
[bluesea_node-1] [14] => 44
[bluesea_node-1] [15] => 32
[bluesea_node-1] [16] => 57
[bluesea_node-1] [17] => 50
[bluesea_node-1] [18] => 49
[bluesea_node-1] [19] => 54
[bluesea_node-1] [20] => 48
[bluesea_node-1] [21] => 48
[bluesea_node-1] reported 500000
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5524 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5866 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5994 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 6122 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5939 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 6197 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 6122 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5684 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 6122 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5866 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5684 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5940 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5940 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 6122 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5738 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5866 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5684 bytes, not found RPM
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 6122 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5812 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5812 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5684 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 6122 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5812 bytes, not found set resolution
[bluesea_node-1] send command : 'LSPST:1H'
[ERROR] [bluesea_node-1]: process has died [pid 2754, exit code -11, cmd '/home/pi/ros2_serial_ws/install/bluesea2/lib/bluesea2/bluesea_node --ros-args -r __node:=bluesea_node -r __ns:=/ --params-file /home/pi/ros2_serial_ws/install/bluesea2/share/bluesea2/params/LSS-40S-B20E44.yaml'].
这个怎么根之前差距这么大,这是ros2的?
此应用launch文件是用python写的,文件命名格式用*.launch.py或*_launch.py是不是比*.launch更好点?
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