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Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rupingcen/mick_robot.git
VCS Type git
VCS Version master
Last Updated 2024-12-24
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

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Maintainers

  • linux

Authors

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ORADAR ROS package

ORADAR ROS 包用于连接Oradar MS200激光雷达,此ROS包支持ROS和ROS2环境。其中ROS支持 Indigo,Kinetic,Melodic等ROS版本;ROS2支持Ubuntu 20.04 ROS2 foxy版本及以上。

使用方法:

  1. 在系统中安装ROS环境,具体安装方法参考下面连接:

    ROS安装链接:http://wiki.ros.org/kinetic/Installation/Ubuntu

    ROS2安装链接:https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html

    请不要在一台电脑上同时安装ROS和ROS2,以避免可能的版本冲突和手工安装其他库的麻烦

  2. 将oradar_ros源码复制到ros工作目录下的src目录,修改相应文件

   mkdir -p ~/lidar_ros_ws/src
   cp -ar oradar_ros ~/lidar_ros_ws/src/
   

(1) 当使用ROS时,需要打开oradar_ros源码根目录下的CMakeLists.txt文件,将文件顶部的变量COMPILE_METHOD改为CATKIN

   #=======================================
   # Compile setup (ORIGINAL,CATKIN,COLCON)
   #=======================================
   set(COMPILE_METHOD CATKIN)
   

然后把package_ros1.xml文件复制一份,命名为为package.xml

(2) 当使用ROS2时,需要打开oradar_ros源码根目录下的CMakeLists.txt文件,将文件顶部的变量COMPILE_METHOD改为COLCON

   #=======================================
   # Compile setup (ORIGINAL,CATKIN,COLCON)
   #=======================================
   set(COMPILE_METHOD COLCON)
   

然后把package_ros2.xml文件复制一份,命名为package.xml

  1. 编译工程、设置环境变量

    当环境是ROS时:

   cd ~/lidar_ros_ws
   catkin_make
   source devel/setup.sh
   

当环境是ROS2时:

   cd ~/lidar_ros_ws
   colcon build
   source install/setup.bash
   
  1. 配置上位机串口

    配置串口port_name和波特率: 默认配置port_name为/dev/ttyACM0, 波特率为230400 将ms200激光雷达设备通过USB转串口线,插入连接到Ubuntu系统,在Ubuntu系统下打开终端,输入 ls /dev/ttyACM* 查看串口设备是否接入,若检测到串口设备,则使用 sudo chmod 777 /dev/ttyACM* 命令赋予最高权限。

  2. 配置雷达参数

    打开oradar_ros/launch/ms200_scan.launch 进行参数配置或者oradar_ros/launch/ms200_scan.launch.py 进行参数配置

    参数说明如下:

    参数名 数据类型 描述
    frame_id string 激光雷达坐标系名称。 默认为laser_frame
    scan_topic string LaserScan主题名。 默认为scan
    port_name string 激光雷达串口名称。 默认值为/dev/ttyACM0
    baudrate int 雷达串口波特率.。 默认值为230400
    angle_min double 最小角度,单位度,取值范围[0, 360]。 默认值为0
    angle_max double 最大角度,单位度,取值范围[0, 360]。 默认值为360
    range_min double 最小距离,单位米,默认值为0.05
    range_max double 最大距离,单位米,默认值为20.0
    clockwise bool 配置点云方向,true为顺时针, false为逆时针。默认为false
    motor_speed int 雷达转速,单位Hz,取值范围为5~15Hz。默认值为10Hz
  3. 启动Oradar ros节点

    当环境是ROS时:

   roslaunch oradar_lidar ms200_scan.launch
   或者
   roslaunch oradar_lidar ms200_scan_view.launch (使用rviz显示) 
   

当环境是ROS2时:

   ros2 launch oradar_lidar ms200_scan.launch.py
   或者
   ros2 launch oradar_lidar ms200_scan_view.launch.py(使用rviz2显示)
   
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged oradar_lidar at Robotics Stack Exchange

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