mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-11 06:59:49 +08:00
Refactor: update LiDAR documentation and unify IMU parameter descriptions
This commit is contained in:
xiexun
@@ -1,76 +0,0 @@
|
|||||||
# IMU集成测试报告
|
|
||||||
|
|
||||||
## 修改摘要
|
|
||||||
本次修改将原来分离的加速度计和陀螺仪控制整合成统一的IMU控制，主要修改包括：
|
|
||||||
|
|
||||||
### 1. Launch文件修改 (lidar.launch.py)
|
|
||||||
**之前的参数:**
|
|
||||||
- `enable_sync_output_accel_gyro`: 控制同步输出
|
|
||||||
- `enable_accel`: 控制加速度计
|
|
||||||
- `enable_gyro`: 控制陀螺仪
|
|
||||||
- `accel_rate`: 加速度计频率
|
|
||||||
- `gyro_rate`: 陀螺仪频率
|
|
||||||
|
|
||||||
**现在的参数:**
|
|
||||||
- `enable_imu`: 统一控制IMU(加速度计+陀螺仪)
|
|
||||||
- `imu_rate`: 统一的IMU频率
|
|
||||||
- `accel_range`: 加速度计量程
|
|
||||||
- `gyro_range`: 陀螺仪量程
|
|
||||||
|
|
||||||
### 2. 话题变化
|
|
||||||
**之前的话题:**
|
|
||||||
- `/camera/accel/sample`: 单独的加速度计数据
|
|
||||||
- `/camera/gyro/sample`: 单独的陀螺仪数据
|
|
||||||
- `/camera/gyro_accel/sample`: 同步的加速度计+陀螺仪数据
|
|
||||||
|
|
||||||
**现在的话题:**
|
|
||||||
- `/lidar/imu/sample`: 统一的IMU话题，包含同步的加速度计和陀螺仪数据
|
|
||||||
|
|
||||||
### 3. 外部参考话题变化
|
|
||||||
**之前的话题:**
|
|
||||||
- `/lidar/lidar_to_accel`: LiDAR到加速度计的外部参考
|
|
||||||
- `/lidar/lidar_to_gyro`: LiDAR到陀螺仪的外部参考
|
|
||||||
|
|
||||||
**现在的话题:**
|
|
||||||
- `/lidar/lidar_to_imu`: LiDAR到IMU的统一外部参考
|
|
||||||
|
|
||||||
### 4. 测试验证
|
|
||||||
|
|
||||||
#### 启动命令测试
|
|
||||||
```bash
|
|
||||||
# 新的启动命令
|
|
||||||
ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
|
|
||||||
|
|
||||||
# 验证日志输出
|
|
||||||
# 应该看到: "Started IMU stream with accel range: 2g, gyro range: 1000dps, rate: 50hz"
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 话题验证
|
|
||||||
```bash
|
|
||||||
# 检查IMU话题
|
|
||||||
ros2 topic list | grep -E "(imu|accel|gyro)"
|
|
||||||
# 预期输出:
|
|
||||||
# /lidar/imu/sample
|
|
||||||
# /lidar/lidar_to_imu
|
|
||||||
|
|
||||||
# 检查IMU数据
|
|
||||||
ros2 topic echo /lidar/imu/sample --once
|
|
||||||
# 预期: 包含angular_velocity和linear_acceleration的同步数据
|
|
||||||
```
|
|
||||||
|
|
||||||
### 5. 代码修改文件列表
|
|
||||||
- `orbbec_camera/launch/lidar.launch.py`
|
|
||||||
- `orbbec_camera/src/ob_lidar_node.cpp`
|
|
||||||
- `orbbec_camera/include/orbbec_camera/ob_lidar_node.h`
|
|
||||||
- `docs/launch_parameters.md`
|
|
||||||
- `docs/all_available_topics.md`
|
|
||||||
|
|
||||||
### 6. 修改优势
|
|
||||||
1. **简化配置**: 用户只需要设置一个`enable_imu`参数即可启用整个IMU功能
|
|
||||||
2. **统一频率**: 确保加速度计和陀螺仪使用相同的采样频率，提高数据同步性
|
|
||||||
3. **统一话题**: 所有IMU数据在一个话题中发布，便于下游节点使用
|
|
||||||
4. **减少复杂性**: 去除了复杂的同步选项，默认就是同步的
|
|
||||||
5. **更好的语义**: IMU作为一个整体概念更符合机器人领域的常见用法
|
|
||||||
|
|
||||||
### 7. 向后兼容性
|
|
||||||
此修改不向后兼容，使用旧参数的launch文件需要更新参数名称。但这是一个有意的设计决策，旨在简化和改进用户体验。
|
|
||||||
@@ -1 +1,183 @@
|
|||||||
|
# OrbbecSDK ROS2 LiDAR Driver
|
||||||
|
|
||||||
|
This ROS2 driver supports your use of Orbbec single-line/multi-line LiDAR. This document provides installation instructions, usage guides, and other important information to help you quickly get started using this driver.
|
||||||
|
|
||||||
|
## 1. Installation
|
||||||
|
|
||||||
|
### 1.1 Prerequisites
|
||||||
|
|
||||||
|
Before using the OrbbecSDK ROS2 LiDAR driver, please ensure that the following dependencies are installed on your system:
|
||||||
|
|
||||||
|
- **ROS2**: A valid installation of ROS2 (Humble, Foxy, or other supported distributions).
|
||||||
|
- If you need help, please refer to the [ROS2 Installation Guide](https://docs.ros.org/en/foxy/Installation.html).
|
||||||
|
|
||||||
|
### 1.2 Install deb Dependencies
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# assume you have sourced ROS environment, same blow
|
||||||
|
sudo apt install libgflags-dev nlohmann-json3-dev \
|
||||||
|
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
|
||||||
|
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
|
||||||
|
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
|
||||||
|
ros-$ROS_DISTRO-backward-ros libdw-dev
|
||||||
|
```
|
||||||
|
|
||||||
|
### 1.3 Install udev Rules
|
||||||
|
|
||||||
|
```bash
|
||||||
|
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
|
||||||
|
sudo bash install_udev_rules.sh
|
||||||
|
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||||
|
```
|
||||||
|
|
||||||
|
### 2. Getting Started
|
||||||
|
|
||||||
|
```bash
|
||||||
|
cd ~/ros2_ws/
|
||||||
|
# build release, Default is Debug
|
||||||
|
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
|
||||||
|
```
|
||||||
|
|
||||||
|
Launch the LiDAR node
|
||||||
|
|
||||||
|
* First terminal
|
||||||
|
|
||||||
|
```bash
|
||||||
|
. ./install/setup.bash
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py
|
||||||
|
```
|
||||||
|
|
||||||
|
* Second terminal
|
||||||
|
|
||||||
|
```bash
|
||||||
|
. ./install/setup.bash
|
||||||
|
rviz2
|
||||||
|
```
|
||||||
|
|
||||||
|
1. Open Rviz2.
|
||||||
|
|
||||||
|
2. Add a `PointCloud2` or `LaserScan` display.
|
||||||
|
|
||||||
|
3. For `PointCloud2`, select the `/lidar/cloud/points` topic; for `LaserScan`, select the `/lidar/scan/points` topic.
|
||||||
|
|
||||||
|
4. Set the `Fixed Frame` to `lidar_lidar_frame` to properly align the data.
|
||||||
|
|
||||||
|
* `PointCloud2` visualization example:
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
* `LaserScan` visualization example:
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
## 2. Usage
|
||||||
|
|
||||||
|
### 2.1 Running the Driver
|
||||||
|
|
||||||
|
To start the driver, launch the provided ROS2 launch file:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
source install/setup.bash
|
||||||
|
# Launch the driver with point cloud data
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT
|
||||||
|
# Launch the driver with sphere point cloud data
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT
|
||||||
|
# Launch the driver with laser scan data
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN
|
||||||
|
# Launch the driver with IMU enabled
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
|
||||||
|
# Launch the driver with both point cloud and IMU data
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT enable_imu:=true imu_rate:=100hz
|
||||||
|
```
|
||||||
|
|
||||||
|
This command will start the node that interfaces with the Orbbec LiDAR device. Please ensure that the LiDAR hardware is properly connected before running this command.
|
||||||
|
|
||||||
|
### 2.2 Get Device Information for Connected LiDARs
|
||||||
|
|
||||||
|
```bash
|
||||||
|
ros2 run orbbec_camera list_devices_node
|
||||||
|
```
|
||||||
|
|
||||||
|
This command will list the connected LiDAR devices and display their respective IP addresses and ports. You can use this information to configure the driver to connect to specific devices.
|
||||||
|
|
||||||
|
### 2.3 Check Which Configurations the LiDAR Supports
|
||||||
|
|
||||||
|
```bash
|
||||||
|
ros2 run orbbec_camera list_camera_profile_mode_node
|
||||||
|
```
|
||||||
|
|
||||||
|
### 2.4 Parameters and Configuration
|
||||||
|
|
||||||
|
The `lidar.launch.py` file contains default parameters for the driver. You can customize these settings by modifying the launch file or creating a custom configuration file. Key parameters include:
|
||||||
|
|
||||||
|
- **device_type**: The type of device to launch. Optional values: `lidar`, `camera`. Setting this parameter to `lidar` launches the LiDAR device, setting it to `camera` launches the camera device.
|
||||||
|
- **camera_name**: Launch node namespace.
|
||||||
|
- **device_num**: Number of devices. This must be filled if you need to launch multiple devices.
|
||||||
|
- **upgrade_firmware**: Firmware upgrade function. The input parameter is the firmware path.
|
||||||
|
- **connection_delay**: Delay time (in milliseconds) for reopening the device. Immediately reopening the device during hot-plugging may cause firmware crashes.
|
||||||
|
- **publish_tf**: Enable TF publishing.
|
||||||
|
- **tf_publish_rate**: TF publishing frequency.
|
||||||
|
- **lidar_format**: Data format for the LiDAR. Optional values: `LIDAR_POINT`, `LIDAR_SPHERE_POINT`, `LIDAR_SCAN`
|
||||||
|
- **lidar_rate**: Scan rate of the LiDAR.
|
||||||
|
- **enable_scan_to_point**: Enable conversion of scan data to point cloud data, publishing PointCloud2 data type topics.
|
||||||
|
- **repetitive_scan_mode**: Repetitive scan mode parameter.
|
||||||
|
- **filter_level**: Add filter level parameter.
|
||||||
|
- **vertical_fov**: Vertical angle parameter.
|
||||||
|
- **min_angle**: Minimum angle of the LiDAR scan range in degrees (e.g., `-135.0`). Default value: `-135.0`.
|
||||||
|
- **max_angle**: Maximum angle of the LiDAR scan range in degrees (e.g., `135.0`). Default value: `135.0`.
|
||||||
|
- **min_range**: Minimum distance the LiDAR can measure in meters. Default value: `0.05`.
|
||||||
|
- **max_range**: Maximum distance the LiDAR can measure in meters. Default value: `30.0`.
|
||||||
|
- **echo_mode**: Echo mode of the LiDAR. Optional values: `Last Echo`, `First Echo`
|
||||||
|
- **point_cloud_qos**: ROS 2 message Quality of Service (QoS) settings. Possible values include `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, and `SENSOR_DATA`, and are case-insensitive. These values correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA` respectively.
|
||||||
|
- **enumerate_net_device**: Enable automatic enumeration of network devices.
|
||||||
|
- **net_device_ip**: IP address of the network device.
|
||||||
|
- **net_device_port**: Port number on the network side.
|
||||||
|
- **log_level**: SDK log level, default value is `none`, optional values are `debug`, `info`, `warn`, `error`, `fatal`
|
||||||
|
- **time_domain**: Timestamp type of the device. Optional values are `device`, `global`, `system`
|
||||||
|
- **config_file_path**: Path to the YAML configuration file. Default value is "". If no configuration file is specified, default parameters from the launch file will be used.
|
||||||
|
- **enable_heartbeat**: Enable heartbeat function, default is `false`. If set to `true`, the camera node will send heartbeat signals to the firmware; this should also be set to `true` if hardware logging is required.
|
||||||
|
- **enable_imu**: Enable IMU (accelerometer + gyroscope) and output unified IMU topic data.
|
||||||
|
- **imu_rate**: Unified frequency of the IMU (both accelerometer and gyroscope).
|
||||||
|
- **accel_range**: Range of the accelerometer.
|
||||||
|
- **gyro_range**: Range of the gyroscope.
|
||||||
|
|
||||||
|
## Point Cloud Data Detailed Description
|
||||||
|
|
||||||
|
Livox PointCloud2 (PointXYZRT) point cloud format is as follows:
|
||||||
|
|
||||||
|
```
|
||||||
|
float32 x # X axis, unit:m
|
||||||
|
float32 y # Y axis, unit:m
|
||||||
|
float32 z # Z axis, unit:m
|
||||||
|
uint8 intensity # lidar intensity
|
||||||
|
uint8 tag # lidar tag
|
||||||
|
```
|
||||||
|
|
||||||
|
## 3. IMU Data
|
||||||
|
|
||||||
|
### 3.1 IMU Topics
|
||||||
|
|
||||||
|
When IMU is enabled, the following topics will be published:
|
||||||
|
|
||||||
|
- **`/lidar/imu/sample`**: Unified IMU topic containing synchronized accelerometer and gyroscope data in `sensor_msgs/Imu` format.
|
||||||
|
- **`/lidar/lidar_to_imu`**: Transform from LiDAR frame to IMU frame.
|
||||||
|
|
||||||
|
### 3.2 Using IMU Data
|
||||||
|
|
||||||
|
To enable IMU data collection:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# Launch with IMU enabled
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
|
||||||
|
|
||||||
|
# Check IMU topics
|
||||||
|
ros2 topic list | grep imu
|
||||||
|
|
||||||
|
# View IMU data
|
||||||
|
ros2 topic echo /lidar/imu/sample
|
||||||
|
```
|
||||||
|
|
||||||
|
The IMU data includes:
|
||||||
|
- **linear_acceleration**: 3D acceleration data (x, y, z) in m/s²
|
||||||
|
- **angular_velocity**: 3D angular velocity data (x, y, z) in rad/s
|
||||||
|
- **orientation**: Quaternion orientation (not provided by hardware, set to zero)
|
||||||
|
|||||||
+101
-73
@@ -1,20 +1,20 @@
|
|||||||
# OrbbecSDK ROS2 雷达驱动
|
# OrbbecSDK ROS2 激光雷达驱动
|
||||||
|
|
||||||
此 ROS2 驱动程序支持您使用Orbbec 单线/多线 LiDAR，本文档提供安装说明、使用指南以及其他重要信息，帮助您快速上手使用该驱动程序。
|
本ROS2驱动支持您使用奥比中光单线/多线激光雷达。本文档提供安装说明、使用指南和其他重要信息，帮助您快速开始使用此驱动。
|
||||||
|
|
||||||
## 1. 安装
|
## 1. 安装
|
||||||
|
|
||||||
### 1.1 先决条件
|
### 1.1 先决条件
|
||||||
|
|
||||||
在使用 OrbbecSDK ROS2 LiDAR驱动程序之前，请确保您的系统上安装了以下依赖项：
|
在使用OrbbecSDK ROS2激光雷达驱动之前，请确保您的系统已安装以下依赖项：
|
||||||
|
|
||||||
- **ROS2**: 有效安装 ROS2（Humble、Foxy 或其他受支持的发行版）。
|
- **ROS2**: 有效的ROS2安装（Humble、Foxy或其他支持的发行版）。
|
||||||
- 如果您需要帮助，请参阅 [ROS2 安装指南](https://docs.ros.org/en/foxy/Installation.html).
|
- 如果您需要帮助，请参考[ROS2安装指南](https://docs.ros.org/en/foxy/Installation.html)。
|
||||||
|
|
||||||
### 1.2 安装 deb 依赖项
|
### 1.2 安装deb依赖项
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# assume you have sourced ROS environment, same blow
|
# 假设您已经配置了ROS环境，下同
|
||||||
sudo apt install libgflags-dev nlohmann-json3-dev \
|
sudo apt install libgflags-dev nlohmann-json3-dev \
|
||||||
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
|
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
|
||||||
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
|
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
|
||||||
@@ -22,7 +22,7 @@ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DIST
|
|||||||
ros-$ROS_DISTRO-backward-ros libdw-dev
|
ros-$ROS_DISTRO-backward-ros libdw-dev
|
||||||
```
|
```
|
||||||
|
|
||||||
### 1.3 安装 udev 规则
|
### 1.3 安装udev规则
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
|
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
|
||||||
@@ -30,15 +30,15 @@ sudo bash install_udev_rules.sh
|
|||||||
sudo udevadm control --reload-rules && sudo udevadm trigger
|
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||||
```
|
```
|
||||||
|
|
||||||
### 2. 入门
|
### 2. 入门指南
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
cd ~/ros2_ws/
|
cd ~/ros2_ws/
|
||||||
# build release, Default is Debug
|
# 构建发布版本，默认为调试版本
|
||||||
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
|
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
|
||||||
```
|
```
|
||||||
|
|
||||||
启动雷达节点
|
启动激光雷达节点
|
||||||
|
|
||||||
* 第一个终端
|
* 第一个终端
|
||||||
|
|
||||||
@@ -54,49 +54,50 @@ ros2 launch orbbec_camera lidar.launch.py
|
|||||||
rviz2
|
rviz2
|
||||||
```
|
```
|
||||||
|
|
||||||
1.打开Rviz2。
|
1. 打开Rviz2。
|
||||||
|
2. 添加 `PointCloud2`或 `LaserScan`显示。
|
||||||
|
3. 对于 `PointCloud2`，选择 `/lidar/cloud/points`话题；对于 `LaserScan`，选择 `/lidar/scan/points`话题。
|
||||||
|
4. 将 `Fixed Frame`设置为 `lidar_lidar_frame`以正确对齐数据。
|
||||||
|
|
||||||
2.添加一个 `PointCloud2`或者 `LaserScan`显示。
|
* `PointCloud2`可视化示例：
|
||||||
|
|
||||||
3.`PointCloud2`选择 `/lidar/cloud/points`话题，`LaserScan`选择 `/lidar/scan/points`话题。
|
|
||||||
|
|
||||||
4.将 `Fixed Frame`设置为 `lidar_lidar_frame`，以正确对齐数据。
|
* `LaserScan`可视化示例：
|
||||||
|
|
||||||
* `PointCloud2`示例可视化：
|
|
||||||
|
|
||||||
|
## 2. 使用方法
|
||||||
|
|
||||||
* `LaserScan`示例可视化：
|
### 2.1 运行驱动
|
||||||
|
|
||||||
|
要启动驱动，请启动提供的ROS2启动文件：
|
||||||
|
|
||||||
## 2. 用法
|
|
||||||
|
|
||||||
### 2.1 运行驱动程序
|
|
||||||
|
|
||||||
要启动驱动程序，请启动提供的 ROS2 启动文件：
|
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
source install/setup.bash
|
source install/setup.bash
|
||||||
# Launch the driver with point cloud data
|
# 启动带有点云数据的驱动
|
||||||
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT
|
||||||
# Launch the driver with sphere point cloud data
|
# 启动带有球面点云数据的驱动
|
||||||
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT
|
||||||
# Launch the driver with laser scan data
|
# 启动带有激光扫描数据的驱动
|
||||||
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN
|
||||||
|
# 启动启用IMU的驱动
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
|
||||||
|
# 启动同时包含点云和IMU数据的驱动
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT enable_imu:=true imu_rate:=100hz
|
||||||
```
|
```
|
||||||
|
|
||||||
此命令将启动与 Orbbec LiDAR 设备接口的节点。运行此命令前，请确保 LiDAR 硬件已正确连接。
|
此命令将启动与奥比中光激光雷达设备接口的节点。请确保在运行此命令之前正确连接激光雷达硬件。
|
||||||
|
|
||||||
### 2.2 获取已连接雷达的设备信息
|
### 2.2 获取已连接激光雷达的设备信息
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
ros2 run orbbec_camera list_devices_node
|
ros2 run orbbec_camera list_devices_node
|
||||||
```
|
```
|
||||||
|
|
||||||
此命令将列出已连接的 LiDAR 设备，并显示它们各自的 IP 地址和端口。您可以使用这些信息来配置驱动程序以连接到特定设备。
|
此命令将列出已连接的激光雷达设备并显示其各自的IP地址和端口。您可以使用此信息配置驱动以连接到特定设备。
|
||||||
|
|
||||||
### 2.3 检查雷达支持哪些配置
|
### 2.3 检查激光雷达支持的配置
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
ros2 run orbbec_camera list_camera_profile_mode_node
|
ros2 run orbbec_camera list_camera_profile_mode_node
|
||||||
@@ -104,50 +105,77 @@ ros2 run orbbec_camera list_camera_profile_mode_node
|
|||||||
|
|
||||||
### 2.4 参数和配置
|
### 2.4 参数和配置
|
||||||
|
|
||||||
`lidar.launch.py`文件包含驱动程序的默认参数。您可以通过修改启动文件或创建自定义配置文件来自定义这些设置。关键参数包括：
|
`lidar.launch.py`文件包含驱动的默认参数。您可以通过修改启动文件或创建自定义配置文件来自定义这些设置。关键参数包括：
|
||||||
|
|
||||||
- **device_type**：启动的设备类型。可选的值：`lidar`、`camera`。该参数设置为 `lidar`则启动雷达设备，设置为 `camera`则启动相机设备。
|
- **device_type**: 要启动的设备类型。可选值：`lidar`、`camera`。将此参数设置为 `lidar`启动激光雷达设备，设置为 `camera`启动摄像头设备。
|
||||||
- **camera_name**：启动节点命名空间。
|
- **camera_name**: 启动节点命名空间。
|
||||||
- **device_num**：设备数量。如果需要启动多个设备，则必须填写此项。
|
- **device_num**: 设备数量。如果需要启动多个设备，则必须填写此项。
|
||||||
- **upgrade_firmware**：固件升级功能。输入参数是固件路径。
|
- **upgrade_firmware**: 固件升级功能。输入参数是固件路径。
|
||||||
- **connection_delay**：重新打开设备的延迟时间（以毫秒为单位）。并且在热插拔时立即重新打开设备可能会导致固件崩溃。
|
- **connection_delay**: 重新打开设备的延迟时间（毫秒）。在热插拔期间立即重新打开设备可能导致固件崩溃。
|
||||||
- **publish_tf**：启用 TF 发布。
|
- **publish_tf**: 启用TF发布。
|
||||||
- **tf_publish_rate**：TF 发布频率。
|
- **tf_publish_rate**: TF发布频率。
|
||||||
- **lidar_format**：雷达的数据格式。可选值：`LIDAR_POINT`、`LIDAR_SPHERE_POINT` 、`LIDAR_SCAN`
|
- **lidar_format**: 激光雷达的数据格式。可选值：`LIDAR_POINT`、`LIDAR_SPHERE_POINT`、`LIDAR_SCAN`
|
||||||
- **lidar_rate**：雷达的扫描速率。
|
- **lidar_rate**: 激光雷达的扫描频率。
|
||||||
- **enable_scan_to_point**：启动scan数据转pointcloud数据，发布pointcloud2数据类型的话题。
|
- **enable_scan_to_point**: 启用扫描数据到点云数据的转换，发布PointCloud2数据类型话题。
|
||||||
- **repetitive_scan_mode**：重复扫描模式参数。
|
- **repetitive_scan_mode**: 重复扫描模式参数。
|
||||||
- **filter_level**：添加过滤等级参数。
|
- **filter_level**: 添加过滤级别参数。
|
||||||
- **vertical_fov**：垂直角度参数。
|
- **vertical_fov**: 垂直角度参数。
|
||||||
- **min_angle**：雷达扫描范围的最小角度，以度为单位（例如 `-135.0`）。默认值：`-135.0`。
|
- **min_angle**: 激光雷达扫描范围的最小角度（度）（例如，`-135.0`）。默认值：`-135.0`
|
||||||
- **max_angle**：雷达扫描范围的最大角度，以度为单位（例如 `135.0`）。默认值：`135.0`。
|
- **max_angle**: 激光雷达扫描范围的最大角度（度）（例如，`135.0`）。默认值：`135.0`
|
||||||
- **min_range**：雷达可测量的最小距离，以米为单位。默认值：`0.05`。
|
- **min_range**: 激光雷达可测量的最小距离（米）。默认值：`0.05`
|
||||||
- **max_range**：雷达可测量的最大距离，以米为单位。默认值：`30.0`。
|
- **max_range**: 激光雷达可测量的最大距离（米）。默认值：`30.0`
|
||||||
- **echo_mode**：雷达的回波模式。可选值：`Last Echo`，`First Echo`
|
- **echo_mode**: 激光雷达的回波模式。可选值：`Last Echo`、`First Echo`
|
||||||
- **point_cloud_qos**：ROS 2 消息服务质量 (QoS) 设置。可能的值包括 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS` 和 `SENSOR_DATA`，并且不区分大小写。这些值分别对应于 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters` 和 `SENSOR_DATA`。
|
- **point_cloud_qos**: ROS 2消息服务质量（QoS）设置。可能的值包括 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`和 `SENSOR_DATA`，不区分大小写。这些值分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters`和 `SENSOR_DATA`。
|
||||||
- **enumerate_net_device**：启用自动枚举网络设备。
|
- **enumerate_net_device**: 启用网络设备的自动枚举。
|
||||||
- **net_device_ip**：网络设备的IP地址。
|
- **net_device_ip**: 网络设备的IP地址。
|
||||||
- **net_device_port**：网络这边的端口号。
|
- **net_device_port**: 网络端的端口号。
|
||||||
- **log_level**：SDK日志级别，默认值为 `none`，可选值为 `debug`、`info`、`warn`、`error`、`fatal`
|
- **log_level**: SDK日志级别，默认值为 `none`，可选值为 `debug`、`info`、`warn`、`error`、`fatal`
|
||||||
- **time_domain**：设备的时间戳类型。可选值为 `device`、`global`、`system`
|
- **time_domain**: 设备的时间戳类型。可选值为 `device`、`global`、`system`
|
||||||
- **config_file_path**：YAML 配置文件的路径。默认值为“”。如果未指定配置文件，则将使用启动文件中的默认参数。
|
- **config_file_path**: YAML配置文件的路径。默认值为""。如果未指定配置文件，将使用启动文件中的默认参数。
|
||||||
- **enable_heartbeat**：启用心跳功能，默认为 `false`。如果设置为 `true`，摄像头节点将向固件发送心跳信号；如果需要硬件日志记录，也应设置为 `true`。
|
- **enable_heartbeat**: 启用心跳功能，默认为 `false`。如果设置为 `true`，相机节点将向固件发送心跳信号；如果需要硬件日志记录，也应将其设置为 `true`。
|
||||||
- **enable_sync_output_accel_gyro：**开启同步 accel_gyro，输出 IMU 主题实时数据。
|
- **enable_imu**: 启用IMU（加速度计+陀螺仪）并输出统一的IMU话题数据。
|
||||||
- **enable_accel：**启用加速度计，并输出加速度计topic话题。
|
- **imu_rate**: IMU的统一频率（加速度计和陀螺仪）。
|
||||||
- **accel_rate：**加速度计的频率。
|
- **accel_range**: 加速度计的量程。
|
||||||
- **accel_range：**加速度计的范围。
|
- **gyro_range**: 陀螺仪的量程。
|
||||||
- **enable_gyro：**启用陀螺仪，并输出陀螺仪信息 topic 数据。
|
|
||||||
- **gyro_rate：**陀螺仪的频率。
|
|
||||||
- **gyro_range：**陀螺仪的范围。
|
|
||||||
|
|
||||||
## pointcloud data 详细说明
|
## 点云数据详细说明
|
||||||
|
|
||||||
Livox pointcloud2 （PointXYZRT） 点云格式，如下：
|
Livox PointCloud2 (PointXYZRT) 点云格式如下：
|
||||||
|
|
||||||
```
|
```
|
||||||
float32 x # X axis, unit:m
|
float32 x # X轴，单位：米
|
||||||
float32 y # Y axis, unit:m
|
float32 y # Y轴，单位：米
|
||||||
float32 z # Z axis, unit:m
|
float32 z # Z轴，单位：米
|
||||||
uint8 intensity # lidar intensity
|
uint8 intensity # 激光雷达强度
|
||||||
uint8 tag # lidar tag
|
uint8 tag # 激光雷达标签
|
||||||
```
|
```
|
||||||
|
|
||||||
|
## 3. IMU数据
|
||||||
|
|
||||||
|
### 3.1 IMU话题
|
||||||
|
|
||||||
|
启用IMU时，将发布以下话题：
|
||||||
|
|
||||||
|
- **`/lidar/imu/sample`**: 统一的IMU话题，包含 `sensor_msgs/Imu`格式的同步加速度计和陀螺仪数据。
|
||||||
|
- **`/lidar/lidar_to_imu`**: 从激光雷达坐标系到IMU坐标系的变换。
|
||||||
|
|
||||||
|
### 3.2 使用IMU数据
|
||||||
|
|
||||||
|
要启用IMU数据采集：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 启动并启用IMU
|
||||||
|
ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
|
||||||
|
|
||||||
|
# 检查IMU话题
|
||||||
|
ros2 topic list | grep imu
|
||||||
|
|
||||||
|
# 查看IMU数据
|
||||||
|
ros2 topic echo /lidar/imu/sample
|
||||||
|
```
|
||||||
|
|
||||||
|
IMU数据包括：
|
||||||
|
|
||||||
|
- **linear_acceleration**: 3D加速度数据（x、y、z），单位：m/s²
|
||||||
|
- **angular_velocity**: 3D角速度数据（x、y、z），单位：rad/s
|
||||||
|
- **orientation**: 四元数方向（硬件不提供，设置为零）
|
||||||
|
|||||||
@@ -51,36 +51,156 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('device_type', default_value='lidar'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('camera_name', default_value='lidar'),
|
'device_type',
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
default_value='lidar',
|
||||||
DeclareLaunchArgument('upgrade_firmware', default_value=''),
|
description='Device type to start: lidar or camera. Set lidar to start LiDAR; set camera to start a camera device.'
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
'camera_name',
|
||||||
DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
|
default_value='lidar',
|
||||||
DeclareLaunchArgument('lidar_rate', default_value='20'),
|
description='Node namespace/device name. Used as prefix for topics, parameters, and TF.'
|
||||||
DeclareLaunchArgument('enable_scan_to_point', default_value='false'),
|
),
|
||||||
DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('filter_level', default_value='-1'),
|
'device_num',
|
||||||
DeclareLaunchArgument('vertical_fov', default_value='-1.0'),
|
default_value='1',
|
||||||
DeclareLaunchArgument('min_angle', default_value='-135.0'),
|
description='Number of devices to start. Required when launching multiple devices.'
|
||||||
DeclareLaunchArgument('max_angle', default_value='135.0'),
|
),
|
||||||
DeclareLaunchArgument('min_range', default_value='0.05'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('max_range', default_value='30.0'),
|
'upgrade_firmware',
|
||||||
DeclareLaunchArgument('echo_mode', default_value='single channel'),
|
default_value='',
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
description='Firmware file path. If set, attempts firmware upgrade on startup; empty means no upgrade.'
|
||||||
DeclareLaunchArgument('enumerate_net_device', default_value='true'),
|
),
|
||||||
DeclareLaunchArgument('net_device_ip', default_value=''),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('net_device_port', default_value='0'),
|
'connection_delay',
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
default_value='10',
|
||||||
DeclareLaunchArgument('time_domain', default_value='device'),# global, device, system
|
description='Reopen delay after hot-plug (milliseconds). Prevents firmware issues caused by immediate reconnect.'
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
),
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_imu', default_value='true'),
|
'publish_tf',
|
||||||
DeclareLaunchArgument('imu_rate', default_value='50hz'),
|
default_value='true',
|
||||||
DeclareLaunchArgument('accel_range', default_value='2g'),
|
description='Whether to publish TF frames. true to enable, false to disable.'
|
||||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'tf_publish_rate',
|
||||||
|
default_value='0.0',
|
||||||
|
description='TF publish frequency in Hz. <= 0 means use default or publish on demand.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'lidar_format',
|
||||||
|
default_value='ANY', # LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
|
||||||
|
description='LiDAR output format: LIDAR_POINT, LIDAR_SPHERE_POINT, or LIDAR_SCAN. ANY lets device/config decide.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'lidar_rate',
|
||||||
|
default_value='20',
|
||||||
|
description='LiDAR scan/publish rate in Hz. Supported range depends on device model.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'enable_scan_to_point',
|
||||||
|
default_value='false',
|
||||||
|
description='Convert LaserScan to PointCloud2 and publish. true to enable, false to disable.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'repetitive_scan_mode',
|
||||||
|
default_value='-1',
|
||||||
|
description='Repetitive scan mode. -1 uses device default; other values depend on device capability.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'filter_level',
|
||||||
|
default_value='-1',
|
||||||
|
description='Filtering level. -1 uses default; non-negative integers increase filtering strength.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'vertical_fov',
|
||||||
|
default_value='-1.0',
|
||||||
|
description='Vertical field of view in degrees. -1 uses device default.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'min_angle',
|
||||||
|
default_value='-135.0',
|
||||||
|
description='Minimum scan angle in degrees (e.g., -135.0).'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'max_angle',
|
||||||
|
default_value='135.0',
|
||||||
|
description='Maximum scan angle in degrees (e.g., 135.0).'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'min_range',
|
||||||
|
default_value='0.05',
|
||||||
|
description='Minimum measurable range in meters.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'max_range',
|
||||||
|
default_value='30.0',
|
||||||
|
description='Maximum measurable range in meters.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'echo_mode',
|
||||||
|
default_value='single channel',
|
||||||
|
description='Echo mode. Examples: single channel, First Echo, Last Echo. Actual options depend on device.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'point_cloud_qos',
|
||||||
|
default_value='default',
|
||||||
|
description='QoS for PointCloud/LaserScan: SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, SENSOR_DATA (case-insensitive).'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'enumerate_net_device',
|
||||||
|
default_value='true',
|
||||||
|
description='Automatically enumerate network devices. true for auto-discovery; false to use specified IP/port only.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'net_device_ip',
|
||||||
|
default_value='',
|
||||||
|
description='IP address of the network device. Leave empty to rely on enumeration or device defaults.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'net_device_port',
|
||||||
|
default_value='0',
|
||||||
|
description='Port of the network device. 0 uses device/driver defaults.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'log_level',
|
||||||
|
default_value='none',
|
||||||
|
description='SDK log level: none, debug, info, warn, error, fatal.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'time_domain',
|
||||||
|
default_value='device', # global, device, system
|
||||||
|
description='Timestamp domain: device (device clock), global (time sync), or system (host clock).'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'config_file_path',
|
||||||
|
default_value='',
|
||||||
|
description='Path to a YAML config file. If provided, overrides same-name launch arguments; otherwise defaults apply.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'enable_heartbeat',
|
||||||
|
default_value='false',
|
||||||
|
description='Send heartbeat to device. Enable when hardware logging/online monitoring is needed.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'enable_imu',
|
||||||
|
default_value='true',
|
||||||
|
description='Enable IMU (accelerometer and gyroscope) data publishing.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'imu_rate',
|
||||||
|
default_value='50hz',
|
||||||
|
description='IMU publish rate, e.g., 50hz, 100hz. Actual options depend on device.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'accel_range',
|
||||||
|
default_value='2g',
|
||||||
|
description='Accelerometer range, e.g., 2g, 4g, 8g, 16g. Device-dependent.'
|
||||||
|
),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'gyro_range',
|
||||||
|
default_value='1000dps',
|
||||||
|
description='Gyroscope range, e.g., 250dps, 500dps, 1000dps, 2000dps. Device-dependent.'
|
||||||
|
),
|
||||||
]
|
]
|
||||||
|
|
||||||
def get_params(context, args):
|
def get_params(context, args):
|
||||||
|
|||||||
Reference in New Issue
Block a user