ROS2 26 LIDAR

[정용규]

wsl

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#include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/laser_scan.hpp" #include "opencv2/opencv.hpp" #include <math.h> #define RAD2DEG(x) ((x)*180./M_PI)   static void scanCb(sensor_msgs::msg::LaserScan::SharedPtr scan) {   static cv::VideoWriter vw("output.avi", cv::VideoWriter::fourcc('M', 'J', 'P', 'G'),          6.5 , cv::Size(500, 500), true);   cv::Mat lidar(500,500,CV_8UC3,cv::Scalar(255,255,255));   int count = scan->scan_time / scan->time_increment;   printf("[SLLIDAR INFO]: I heard a laser scan %s[%d]:\n", scan->header.frame_id.c_str(), count);   printf("[SLLIDAR INFO]: angle_range : [%f, %f]\n", RAD2DEG(scan->angle_min),          RAD2DEG(scan->angle_max));   for (int i = 0; i < count; i++) {     float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i);     printf("[SLLIDAR INFO]: angle-distance : [%f, %f]\n", degree, scan->ranges[i]);     double rad_ =(degree)*M_PI/180;     double dis_ =scan->ranges[i];     double aay = 250+(sin(rad_)*dis_*250/12);     double aax = 250-(cos(rad_)*dis_*250/12);     cv::rectangle(lidar,cv::Rect(aax,aay,3,3),cv::Scalar(0,0,255),-1);   }   cv::rectangle(lidar,cv::Rect(lidar.cols/2-1,lidar.rows/2-1,3,3),cv::Scalar(0,0,0),-1);   vw<<lidar;   cv::imshow("lidar",lidar);   cv::waitKey(1); }   int main(int argc, char **argv) {   rclcpp::init(argc, argv);     auto node = rclcpp::Node::make_shared("sllidar_client");      auto lidar_info_sub = node->create_subscription<sensor_msgs::msg::LaserScan>(                         "scan", rclcpp::SensorDataQoS(), scanCb);     rclcpp::spin(node);   cv::waitKey();   rclcpp::shutdown();       return 0; }   Colored by Color Scripter

cs

jetson

//코드가 길어서 깃허브 링크 첨부함

        this->declare_parameter<int>("serial_baudrate",115200);

기본 코드에서 전송 속도를 115200으로 수정해줘야함 

https://github.com/Slamtec/sllidar_ros2

cmake

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################################################################################ # Set minimum required version of cmake, project name and compile options ################################################################################ cmake_minimum_required(VERSION 3.5) project(sllidar_ros2)   if(NOT CMAKE_CXX_STANDARD)   set(CMAKE_CXX_STANDARD 14) endif()   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")   add_compile_options(-Wall -Wextra -Wpedantic) endif()   if(MSVC)   add_compile_definitions(     _USE_MATH_DEFINES   ) endif()   set(SLLIDAR_SDK_PATH "./sdk/")   FILE(GLOB SLLIDAR_SDK_SRC    "${SLLIDAR_SDK_PATH}/src/arch/linux/*.cpp"   "${SLLIDAR_SDK_PATH}/src/hal/*.cpp"   "${SLLIDAR_SDK_PATH}/src/*.cpp"   "${SLLIDAR_SDK_PATH}/src/dataunpacker/*.cpp"   "${SLLIDAR_SDK_PATH}/src/dataunpacker/unpacker/*.cpp" )   ################################################################################ # Find ament packages and libraries for ament and system dependencies ################################################################################ find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_srvs REQUIRED) find_package(OpenCV REQUIRED) find_package(cv_bridge REQUIRED) ################################################################################ # Build ################################################################################ include_directories(   ${SLLIDAR_SDK_PATH}/include   ${SLLIDAR_SDK_PATH}/src   ${Boost_INCLUDE_DIRS} )   add_executable(sllidar_node    src/sllidar_node.cpp ${SLLIDAR_SDK_SRC}) # target_link_libraries(sllidar_node ${ament_cmake_LIBRARIES}) ament_target_dependencies(sllidar_node   rclcpp   std_srvs   sensor_msgs )   add_executable(sllidar_client src/sllidar_client.cpp) ament_target_dependencies(sllidar_client   rclcpp   std_srvs   sensor_msgs   OpenCV ) ################################################################################ # Install ################################################################################ install(DIRECTORY launch rviz   DESTINATION share/${PROJECT_NAME} )   install(   TARGETS sllidar_node sllidar_client   RUNTIME DESTINATION lib/${PROJECT_NAME} )   ################################################################################ # Macro for ament package ################################################################################ ament_export_dependencies(rclcpp) ament_export_dependencies(std_msgs) ament_export_dependencies(sensor_msgs) ament_export_include_directories(include) ament_package()   Colored by Color Scripter

cs

중앙의 검정색 점 : 중심

wsl

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#include "dxl/dxl.hpp" #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/laser_scan.hpp" #include "opencv2/opencv.hpp" #include"geometry_msgs/msg/vector3.hpp" #include <math.h> #define RAD2DEG(x) ((x)*180./M_PI) using namespace std::chrono_literals; using std::placeholders::_1;     void pubcallback(rclcpp::Node::SharedPtr node, rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr pub){       static geometry_msgs::msg::Vector3 vel;       static  int vel1=10,vel2=10;       static int goal1=0,goal2=0;         if (Dxl::kbhit())         {             char c = Dxl::getch();             switch(c)             {             case 's': goal1 = 0; goal2 = 0; break;             case ' ': goal1 = 0; goal2 = 0; break;             case 'f': goal1 = 50; goal2 = -50; break;             case 'b': goal1 = -50; goal2 = 50; break;             case 'l': goal1 = -50; goal2 = -50; break;             case 'r': goal1 = 50; goal2 = 50; break;             default : goal1 = 0; goal2 = 0; break;             }                  }         // generate accel and decel motion         if(goal1>vel1) vel1 += 5;         else if(goal1<vel1) vel1 -= 5;         else vel1 = goal1;           if(goal2>vel2) vel2 += 5;         else if(goal2<vel2) vel2 -= 5;         else vel2 = goal2;         vel.x = vel1;         vel.y = vel2;                                 RCLCPP_INFO(node->get_logger(), "Publish: %lf,%lf", vel.x, vel.y);         pub->publish(vel);     } static void scanCb(sensor_msgs::msg::LaserScan::SharedPtr scan) {   static cv::VideoWriter vw("output.avi", cv::VideoWriter::fourcc('M', 'J', 'P', 'G'),          6.5 , cv::Size(500, 500), true);   cv::Mat lidar(500,500,CV_8UC3,cv::Scalar(255,255,255));   int count = scan->scan_time / scan->time_increment;   printf("[SLLIDAR INFO]: I heard a laser scan %s[%d]:\n", scan->header.frame_id.c_str(), count);   printf("[SLLIDAR INFO]: angle_range : [%f, %f]\n", RAD2DEG(scan->angle_min),          RAD2DEG(scan->angle_max));   for (int i = 0; i < count; i++) {     float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i);     printf("[SLLIDAR INFO]: angle-distance : [%f, %f]\n", degree, scan->ranges[i]);     double rad_ =(degree)*M_PI/180;     double dis_ =scan->ranges[i];     double aay = 250+(sin(rad_)*dis_*250/12);     double aax = 250-(cos(rad_)*dis_*250/12);     cv::rectangle(lidar,cv::Rect(aax,aay,3,3),cv::Scalar(0,0,255),-1);   }   cv::rectangle(lidar,cv::Rect(lidar.cols/2-1,lidar.rows/2-1,3,3),cv::Scalar(0,0,0),-1);   vw<<lidar;   cv::imshow("lidar",lidar);   cv::waitKey(1); }   int main(int argc, char **argv) {   rclcpp::init(argc, argv);     auto node = rclcpp::Node::make_shared("sllidar_client");      auto lidar_info_sub = node->create_subscription<sensor_msgs::msg::LaserScan>(                         "scan", rclcpp::SensorDataQoS(), scanCb);   auto pub = node->create_publisher<geometry_msgs::msg::Vector3>(       "dxlpub", rclcpp::QoS(rclcpp::KeepLast(10)));  std::function<void()> timer_callback = std::bind(pubcallback, node, pub);     auto timer_ = node->create_wall_timer(40ms, timer_callback);   rclcpp::spin(node);   cv::waitKey();   rclcpp::shutdown();   return 0; }   Colored by Color Scripter

cs

jetson

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#include <rclcpp/rclcpp.hpp> #include <sensor_msgs/msg/laser_scan.hpp> #include <std_srvs/srv/empty.hpp> #include "sl_lidar.h" #include "math.h" #include"geometry_msgs/msg/vector3.hpp" #include <signal.h> #include "dxl/dxl.hpp" #include <memory> #include <chrono> #include <functional> #ifndef _countof #define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0])) #endif #define DEG2RAD(x) ((x)*M_PI/180.) #define ROS2VERSION "1.0.1" using std::placeholders::_1; using namespace sl;   bool need_exit = false;   class SLlidarNode : public rclcpp::Node {   public:   ~ SLlidarNode(){      dxl.close();   }    Dxl dxl;     SLlidarNode()     : Node("sllidar_node")     {         scan_pub = this->create_publisher<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(rclcpp::KeepLast(10)));            }     private:         void init_param()     {         this->declare_parameter<std::string>("channel_type","serial");         this->declare_parameter<std::string>("tcp_ip", "192.168.0.7");         this->declare_parameter<int>("tcp_port", 20108);         this->declare_parameter<std::string>("udp_ip","192.168.11.2");         this->declare_parameter<int>("udp_port",8089);         this->declare_parameter<std::string>("serial_port", "/dev/ttyUSB0");         //this->declare_parameter<int>("serial_baudrate",1000000);         this->declare_parameter<int>("serial_baudrate",115200); //this->declare_parameter<std::string>("frame_id","laser_frame");         this->declare_parameter<std::string>("frame_id","laser");         this->declare_parameter<bool>("inverted", false); //this->declare_parameter<bool>("angle_compensate", false);         this->declare_parameter<bool>("angle_compensate", true); //this->declare_parameter<std::string>("scan_mode",std::string());         //this->declare_parameter<std::string>("scan_mode","Standard");         this->declare_parameter<std::string>("scan_mode","Sensitivity");                  this->declare_parameter<float>("scan_frequency",10);                  this->get_parameter_or<std::string>("channel_type", channel_type, "serial");         this->get_parameter_or<std::string>("tcp_ip", tcp_ip, "192.168.0.7");          this->get_parameter_or<int>("tcp_port", tcp_port, 20108);         this->get_parameter_or<std::string>("udp_ip", udp_ip, "192.168.11.2");          this->get_parameter_or<int>("udp_port", udp_port, 8089);         this->get_parameter_or<std::string>("serial_port", serial_port, "/dev/ttyUSB0");          this->get_parameter_or<int>("serial_baudrate", serial_baudrate, 115200/*256000*/);//ros run for A1 A2, change to 256000 if A3         this->get_parameter_or<std::string>("frame_id", frame_id, "laser_frame");         this->get_parameter_or<bool>("inverted", inverted, false);         this->get_parameter_or<bool>("angle_compensate", angle_compensate, false);         this->get_parameter_or<std::string>("scan_mode", scan_mode, std::string());         if(channel_type == "udp")             this->get_parameter_or<float>("scan_frequency", scan_frequency, 20.0);         else             this->get_parameter_or<float>("scan_frequency", scan_frequency, 10.0);     }       bool getSLLIDARDeviceInfo(ILidarDriver * drv)     {         sl_result     op_result;         sl_lidar_response_device_info_t devinfo;           op_result = drv->getDeviceInfo(devinfo);         if (SL_IS_FAIL(op_result)) {             if (op_result == SL_RESULT_OPERATION_TIMEOUT) {                 RCLCPP_ERROR(this->get_logger(),"Error, operation time out. SL_RESULT_OPERATION_TIMEOUT! ");             } else {                 RCLCPP_ERROR(this->get_logger(),"Error, unexpected error, code: %x",op_result);             }             return false;         }           // print out the device serial number, firmware and hardware version number..         char sn_str[37] = {'\0'};          for (int pos = 0; pos < 16 ;++pos) {             sprintf(sn_str + (pos * 2),"%02X", devinfo.serialnum[pos]);         }         RCLCPP_INFO(this->get_logger(),"SLLidar S/N: %s",sn_str);         RCLCPP_INFO(this->get_logger(),"Firmware Ver: %d.%02d",devinfo.firmware_version>>8, devinfo.firmware_version & 0xFF);         RCLCPP_INFO(this->get_logger(),"Hardware Rev: %d",(int)devinfo.hardware_version);         return true;     }       bool checkSLLIDARHealth(ILidarDriver * drv)     {         sl_result     op_result;         sl_lidar_response_device_health_t healthinfo;         op_result = drv->getHealth(healthinfo);         if (SL_IS_OK(op_result)) {              RCLCPP_INFO(this->get_logger(),"SLLidar health status : %d", healthinfo.status);             switch (healthinfo.status) {                 case SL_LIDAR_STATUS_OK:                     RCLCPP_INFO(this->get_logger(),"SLLidar health status : OK.");                     return true;                 case SL_LIDAR_STATUS_WARNING:                     RCLCPP_INFO(this->get_logger(),"SLLidar health status : Warning.");                     return true;                 case SL_LIDAR_STATUS_ERROR:                     RCLCPP_ERROR(this->get_logger(),"Error, SLLidar internal error detected. Please reboot the device to retry.");                     return false;                 default:                     RCLCPP_ERROR(this->get_logger(),"Error, Unknown internal error detected. Please reboot the device to retry.");                     return false;               }         } else {             RCLCPP_ERROR(this->get_logger(),"Error, cannot retrieve SLLidar health code: %x", op_result);             return false;         }     }       bool stop_motor(const std::shared_ptr<std_srvs::srv::Empty::Request> req,                     std::shared_ptr<std_srvs::srv::Empty::Response> res)     {         (void)req;         (void)res;           if(!drv)             return false;           RCLCPP_DEBUG(this->get_logger(),"Stop motor");         drv->setMotorSpeed(0);         return true;     }       bool start_motor(const std::shared_ptr<std_srvs::srv::Empty::Request> req,                     std::shared_ptr<std_srvs::srv::Empty::Response> res)     {         (void)req;         (void)res;           if(!drv)            return false;         if(drv->isConnected())         {             RCLCPP_DEBUG(this->get_logger(),"Start motor");             sl_result ans=drv->setMotorSpeed();             if (SL_IS_FAIL(ans)) {                 RCLCPP_WARN(this->get_logger(), "Failed to start motor: %08x", ans);                 return false;             }                      ans=drv->startScan(0,1);             if (SL_IS_FAIL(ans)) {                 RCLCPP_WARN(this->get_logger(), "Failed to start scan: %08x", ans);             }         } else {             RCLCPP_INFO(this->get_logger(),"lost connection");             return false;         }           return true;     }       static float getAngle(const sl_lidar_response_measurement_node_hq_t& node)     {         return node.angle_z_q14 * 90.f / 16384.f;     }       void publish_scan(rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr& pub,                   sl_lidar_response_measurement_node_hq_t *nodes,                   size_t node_count, rclcpp::Time start,                   double scan_time, bool inverted,                   float angle_min, float angle_max,                   float max_distance,                   std::string frame_id)     {         static int scan_count = 0;         auto scan_msg = std::make_shared<sensor_msgs::msg::LaserScan>();           scan_msg->header.stamp = start;         scan_msg->header.frame_id = frame_id;         scan_count++;           bool reversed = (angle_max > angle_min);         if ( reversed ) {             scan_msg->angle_min =  M_PI - angle_max;             scan_msg->angle_max =  M_PI - angle_min;         } else {             scan_msg->angle_min =  M_PI - angle_min;             scan_msg->angle_max =  M_PI - angle_max;         }         scan_msg->angle_increment = (scan_msg->angle_max - scan_msg->angle_min) / (double)(node_count-1);           scan_msg->scan_time = scan_time;         scan_msg->time_increment = scan_time / (double)(node_count-1);         scan_msg->range_min = 0.15;         scan_msg->range_max = max_distance;//8.0;           scan_msg->intensities.resize(node_count);         scan_msg->ranges.resize(node_count);         bool reverse_data = (!inverted && reversed) || (inverted && !reversed);         if (!reverse_data) {             for (size_t i = 0; i < node_count; i++) {                 float read_value = (float) nodes[i].dist_mm_q2/4.0f/1000;                 if (read_value == 0.0)                     scan_msg->ranges[i] = std::numeric_limits<float>::infinity();                 else                     scan_msg->ranges[i] = read_value;                 scan_msg->intensities[i] = (float) (nodes[i].quality >> 2);             }         } else {             for (size_t i = 0; i < node_count; i++) {                 float read_value = (float)nodes[i].dist_mm_q2/4.0f/1000;                 if (read_value == 0.0)                     scan_msg->ranges[node_count-1-i] = std::numeric_limits<float>::infinity();                 else                     scan_msg->ranges[node_count-1-i] = read_value;                 scan_msg->intensities[node_count-1-i] = (float) (nodes[i].quality >> 2);             }         }           pub->publish(*scan_msg);     } public:         int work_loop()     {                 init_param();         int ver_major = SL_LIDAR_SDK_VERSION_MAJOR;         int ver_minor = SL_LIDAR_SDK_VERSION_MINOR;         int ver_patch = SL_LIDAR_SDK_VERSION_PATCH;         RCLCPP_INFO(this->get_logger(),"SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:"          ROS2VERSION ", SLLIDAR SDK Version:%d.%d.%d",ver_major,ver_minor,ver_patch);              sl_result     op_result;           // create the driver instance         drv = *createLidarDriver();         IChannel* _channel;         if(channel_type == "tcp"){             _channel = *createTcpChannel(tcp_ip, tcp_port);         }         else if(channel_type == "udp"){             _channel = *createUdpChannel(udp_ip, udp_port);         }         else{             _channel = *createSerialPortChannel(serial_port, serial_baudrate);         }         if (SL_IS_FAIL((drv)->connect(_channel))) {             if(channel_type == "tcp"){                 RCLCPP_ERROR(this->get_logger(),"Error, cannot connect to the ip addr  %s with the tcp port %s.",                 tcp_ip.c_str(),std::to_string(tcp_port).c_str());             }             else if(channel_type == "udp"){                 RCLCPP_ERROR(this->get_logger(),"Error, cannot connect to the ip addr  %s with the udp port %s.",                 udp_ip.c_str(),std::to_string(udp_port).c_str());             }             else{                 RCLCPP_ERROR(this->get_logger(),"Error, cannot bind to the specified serial port %s.",                 serial_port.c_str());                         }             delete drv;             return -1;         }                  // get sllidar device info         if (!getSLLIDARDeviceInfo(drv)) {             return -1;         }           // check health...         if (!checkSLLIDARHealth(drv)) {             return -1;         }           stop_motor_service = this->create_service<std_srvs::srv::Empty>("stop_motor",                                   std::bind(&SLlidarNode::stop_motor,this,std::placeholders::_1,                                 std::placeholders::_2));         start_motor_service = this->create_service<std_srvs::srv::Empty>("start_motor",                                  std::bind(&SLlidarNode::start_motor,this,std::placeholders::_1,                                 std::placeholders::_2));           drv->setMotorSpeed();           LidarScanMode current_scan_mode;         if (scan_mode.empty()) {             op_result = drv->startScan(false /* not force scan */, true /* use typical scan mode */, 0,              &current_scan_mode);         } else {             std::vector<LidarScanMode> allSupportedScanModes;             op_result = drv->getAllSupportedScanModes(allSupportedScanModes);               if (SL_IS_OK(op_result)) {                 sl_u16 selectedScanMode = sl_u16(-1);                 for (std::vector<LidarScanMode>::iterator iter = allSupportedScanModes.begin();                  iter != allSupportedScanModes.end(); iter++) {                     if (iter->scan_mode == scan_mode) {                         selectedScanMode = iter->id;                         break;                     }                 }                   if (selectedScanMode == sl_u16(-1)) {                     RCLCPP_ERROR(this->get_logger(),"scan mode `%s' is not supported by lidar, supported modes:",                      scan_mode.c_str());                     for (std::vector<LidarScanMode>::iterator iter = allSupportedScanModes.begin();                      iter != allSupportedScanModes.end(); iter++) {                         RCLCPP_ERROR(this->get_logger(),"\t%s: max_distance: %.1f m, Point number: %.1fK",                           iter->scan_mode,                                 iter->max_distance, (1000/iter->us_per_sample));                     }                     op_result = SL_RESULT_OPERATION_FAIL;                 } else {                     op_result = drv->startScanExpress(false /* not force scan */,                      selectedScanMode, 0, &current_scan_mode);                 }             }         }           if(SL_IS_OK(op_result))         {             //default frequent is 10 hz (by motor pwm value),  current_scan_mode.us_per_sample is the number of scan point per us             int points_per_circle = (int)(1000*1000/current_scan_mode.us_per_sample/scan_frequency);             angle_compensate_multiple = points_per_circle/360.0  + 1;             if(angle_compensate_multiple < 1)              angle_compensate_multiple = 1.0;             max_distance = (float)current_scan_mode.max_distance;             RCLCPP_INFO(this->get_logger(),             "current scan mode: %s, sample rate: %d Khz, max_distance: %.1f m, scan frequency:%.1f Hz, ",                                  current_scan_mode.scan_mode,(int)                                 (1000/current_scan_mode.us_per_sample+0.5),max_distance, scan_frequency);         }         else         {             RCLCPP_ERROR(this->get_logger(),"Can not start scan: %08x!", op_result);         }           rclcpp::Time start_scan_time;         rclcpp::Time end_scan_time;         double scan_duration;         while (rclcpp::ok() && !need_exit) {             sl_lidar_response_measurement_node_hq_t nodes[8192];             size_t   count = _countof(nodes);               start_scan_time = this->now();             op_result = drv->grabScanDataHq(nodes, count);             end_scan_time = this->now();             scan_duration = (end_scan_time - start_scan_time).seconds();               if (op_result == SL_RESULT_OK) {                 op_result = drv->ascendScanData(nodes, count);                 float angle_min = DEG2RAD(0.0f);                 float angle_max = DEG2RAD(359.0f);                 if (op_result == SL_RESULT_OK) {                     if (angle_compensate) {                         //const int angle_compensate_multiple = 1;                         const int angle_compensate_nodes_count = 360*angle_compensate_multiple;                         int angle_compensate_offset = 0;                         auto angle_compensate_nodes = new sl_lidar_response_measurement_node_hq_t[angle_compensate_nodes_count];                         memset(angle_compensate_nodes, 0,                          angle_compensate_nodes_count*sizeof(sl_lidar_response_measurement_node_hq_t));                           size_t i = 0, j = 0;                         for( ; i < count; i++ ) {                             if (nodes[i].dist_mm_q2 != 0) {                                 float angle = getAngle(nodes[i]);                                 int angle_value = (int)(angle * angle_compensate_multiple);                                 if ((angle_value - angle_compensate_offset) < 0) angle_compensate_offset = angle_value;                                 for (j = 0; j < angle_compensate_multiple; j++) {                                     int angle_compensate_nodes_index = angle_value-angle_compensate_offset + j;                                     if(angle_compensate_nodes_index >= angle_compensate_nodes_count)                                         angle_compensate_nodes_index = angle_compensate_nodes_count - 1;                                     angle_compensate_nodes[angle_compensate_nodes_index] = nodes[i];                                 }                             }                         }                              publish_scan(scan_pub, angle_compensate_nodes, angle_compensate_nodes_count,                                 start_scan_time, scan_duration, inverted,                                 angle_min, angle_max, max_distance,                                 frame_id);                           if (angle_compensate_nodes) {                             delete[] angle_compensate_nodes;                             angle_compensate_nodes = nullptr;                         }                     } else {                         int start_node = 0, end_node = 0;                         int i = 0;                         // find the first valid node and last valid node                         while (nodes[i++].dist_mm_q2 == 0);                         start_node = i-1;                         i = count -1;                         while (nodes[i--].dist_mm_q2 == 0);                         end_node = i+1;                           angle_min = DEG2RAD(getAngle(nodes[start_node]));                         angle_max = DEG2RAD(getAngle(nodes[end_node]));                           publish_scan(scan_pub, &nodes[start_node], end_node-start_node +1,                                 start_scan_time, scan_duration, inverted,                                 angle_min, angle_max, max_distance,                                 frame_id);                     }                 } else if (op_result == SL_RESULT_OPERATION_FAIL) {                     // All the data is invalid, just publish them                     float angle_min = DEG2RAD(0.0f);                     float angle_max = DEG2RAD(359.0f);                     publish_scan(scan_pub, nodes, count,                                 start_scan_time, scan_duration, inverted,                                 angle_min, angle_max, max_distance,                                 frame_id);                 }             }               rclcpp::spin_some(shared_from_this());         }           // done!         drv->setMotorSpeed(0);         drv->stop();         RCLCPP_INFO(this->get_logger(),"Stop motor");           return 0;     }       private:     rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub;     rclcpp::Service<std_srvs::srv::Empty>::SharedPtr start_motor_service;     rclcpp::Service<std_srvs::srv::Empty>::SharedPtr stop_motor_service;       std::string channel_type;     std::string tcp_ip;     std::string udp_ip;     std::string serial_port;     int tcp_port = 20108;     int udp_port = 8089;     int serial_baudrate = 115200;     std::string frame_id;     bool inverted = false;     bool angle_compensate = true;     float max_distance = 8.0;     size_t angle_compensate_multiple = 1;//it stand of angle compensate at per 1 degree     std::string scan_mode;     float scan_frequency;       ILidarDriver * drv;     };   void ExitHandler(int sig) {     (void)sig;     need_exit = true; }  void mysub_callback(std::shared_ptr<SLlidarNode> node,     const geometry_msgs::msg::Vector3::SharedPtr msg){           if (!node->dxl.open()) {             RCLCPP_ERROR(node->get_logger(), "dynamixel open error ");             rclcpp::shutdown();     }     RCLCPP_INFO(node->get_logger(), "Received message: %lf, %lf", msg->x, msg->y);     node->dxl.setVelocity(static_cast<int>(msg->x), static_cast<int>(msg->y)); } int main(int argc, char * argv[]) {       rclcpp::init(argc, argv);       auto sllidar_node = std::make_shared<SLlidarNode>();     //auto sub = sllidar_node->create_subscription<geometry_msgs::msg::Vector3>(       //  "dxlpub",rclcpp::SensorDataQoS(),std::bind<void()>(&mysub_callback,sllidar_node,_1));     auto dd = [sllidar_node](geometry_msgs::msg::Vector3::SharedPtr msg) {     mysub_callback(sllidar_node, msg); };     auto sub = sllidar_node->create_subscription<geometry_msgs::msg::Vector3>(     "dxlpub",     rclcpp::SensorDataQoS(),dd );       signal(SIGINT,ExitHandler);     int ret = sllidar_node->work_loop();     rclcpp::shutdown();       return ret; }   Colored by Color Scripter

cs

cmake

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cmake_minimum_required(VERSION 3.16.3) project(dxl)   # Default to C++14 if(NOT CMAKE_CXX_STANDARD)   set(CMAKE_CXX_STANDARD 14) endif()   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")   add_compile_options(-Wall -Wextra -Wpedantic) endif()   # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(OpenCV REQUIRED) find_package(cv_bridge REQUIRED)   include_directories(include) include_directories(/usr/local/include/dynamixel_sdk)   # Build add_executable(pub src/pub.cpp src/dxl.cpp ) ament_target_dependencies(pub rclcpp geometry_msgs cv_bridge sensor_msgs OpenCV)  target_link_libraries(pub dxl_x64_cpp) #target_include_directories(pub PUBLIC /usr/local/include/dynamixel_sdk)   add_executable(sub src/sub.cpp src/dxl.cpp) ament_target_dependencies(sub rclcpp geometry_msgs cv_bridge sensor_msgs OpenCV) target_link_libraries(sub dxl_x64_cpp) #target_include_directories(sub PUBLIC /usr/local/include/dynamixel_sdk)   install(TARGETS   pub   sub   DESTINATION lib/${PROJECT_NAME})   ament_package()     Colored by Color Scripter

cs

 다음 값을 조사하라. 명령어 또는 테스트코드를 이용할 것

 Rplidar A1은 1초에 몇 번 토픽메시지를 전송하는가?

초당 6.5번정도 전송한다

 토픽메시지의 크기(KB)는 얼마인가?

20kb +-1 정도 크기다

 메시지 1개당 몇 개의 거리 측정값이 포함되어 있는가?

초당 회전수: 5.5회전
초당 측정 포인트: 8000개
1회전당 측정 포인트 수 = 8000 / 5.5 ≈ 1455개

 1회전에 몇 번 거리를 측정하는가?

1455번

 angle_increment 값은 얼마인가?

360/1455 약 0.2475도