倍加福r2000激光驱动安装及使用

第一次完成激光的驱动安装和激光数据的采集，遇到很多问题，最后一一解决，现在记录下来，方便后面給机器人安装激光使用

激光的了解

（1）激光型号：OMD30M-R2000（30M表示30m）

（2）参考手册：

a、参数：https://www.pepperl-fuchs.com/china/zh/classid_53.htm?view=productdetails&prodid=86559#overview

https://files.pepperl-fuchs.com/webcat/navi/productInfo/edb/305985_eng.pdf?v=20191123000214

b、使用文档：https://files.pepperl-fuchs.com/webcat/navi/productInfo/doct/tdoct6019__eng.pdf?v=20190829115035

激光驱动下载和安装（ROS上）

（1）驱动下载：https://github.com/dillenberger/pepperl_fuchs，直接下载zip到本地，然后解压：unzip pepperl_fuchs-master.zip

（2）编译安装驱动：将解压目录下的pepperl_fuchs_r2000、dummy_slam_broadcaster两个文件夹拷贝到自己的工作空间：~/catkin_ws/src

cd ~/catkin_ws
catkin_make install
source devel/setup.bash

每新编译一次，可以把build，devel文件夹删除。

（3）网络配置

a、本机ip和子网掩码查询：ifconfig

ifconfig
> inet 10.8.117.129  netmask 255.255.240.0  broadcast 10.8.127.255

b、配置本机

注意：这里要禁用无线网卡

c、配置激光的ip：

ip：10.8.117.130  netmask 255.255.240.0

看激光的使用文档，先把激光调到Main menu -->Ethenet setup --> IP address就可以调整了

激光底座上的三角按钮用于切换，修改数值；回车按钮相当于确认

注意：激光IP的配置要保证和本机IP在一个子网范围内，配置完要重启激光

（4）配置launch文件的参数

<?xml version="1.0"?>
<launch>
  <node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000_driver_node" output="screen">
    <param name="scanner_ip" value="10.8.117.130"/>
    <param name="frame_id" value="/scan"/>
    <param name="scan_frequency" value="35"/>
    <param name="samples_per_scan" value="3600"/>
  </node>
  <node pkg="dummy_slam_broadcaster" type="dummy_slam_broadcaster_node" name="dummy_slam_broadcaster"/>
  <node name="rvizLocal" pkg="rviz" type="rviz" respawn="false" output="screen" args="-d $(find pepperl_fuchs_r2000)/rviz/test.rviz" required="true"/>
</launch>

修改launch文件种的scanner_ip对应的值10.8.117.130（默认值是：192.168.1.100），其他的默认。

激光启动测试

1、启动激光节点

roslaunch pepperl_fuchs_r2000 gui_example.launch

2、rviz看到激光数据展示即可

激光数据说明

查看话题中的数据：

rostopic echo /r2000_driver_node/scan

得到的激光数据

header:
  seq: 1644
  stamp:
    secs: 1570157866
    nsecs: 440070244
  frame_id: "/scan"
angle_min: -3.14159274101
angle_max: 3.14159274101
angle_increment: 0.00261799385771
time_increment: 1.19047617773e-05
scan_time: 0.0285714287311
range_min: 0.0
range_max: 30.0
ranges:[6.479000091552734, 6.49399995803833, 6.47599983215332, 6.468999862670898, 6.478000164031982, 6.548999786376953, 6.546000003814697, 6.544000148773193, 6.552999973297119, 6.540999889373779, 6.539000034332275, 6.559000015258789, 6.546000003814697, 6.557000160217285, 6.5370001792907715, 6.553999900817871, 6.539000034332275, 6.521999835968018, 6.580999851226807, 6.5970001220703125, 6.622000217437744, 4.3470001220703125, 4.341000080108643, 4.301000118255615, 4.080999851226807, 4.085000038146973, 4.0960001945495605, 4.083000183105469, 4.0929999351501465, 4.099999904632568, 4.0920000076293945, 4.0970001220703125, 4.093999862670898, 4.0879998207092285, 4.0920000076293945, 4.078000068664551, 4.081999778747559, 4.086999893188477, 4.074999809265137, 4.091000080108643, 4.09499979019165, 4.090000152587891, 4.086999893188477, 4.073999881744385, 3.944000005722046, 3.9509999752044678, 3.936000108718872, 3.937000036239624, 3.941999912261963, 3.940999984741211, 3.937999963760376, 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angle_min：最小角度，这里是-180°

angle_max：最大角度，这里是180°

angle_increment：角度增量，从-180°～180°，每转动一个角度，记录一个数据到ranges；这里的角度增量，是根据参数配置多少点数来确定。具体参数

range_min：最小距离

range_max：最大距离30米

ranges：扫到的数据，范围从[-180°～180°]，按角度增量产生数据

intensities：反射率，这里不用关注

QUESTION：

（1）测试激光，编译后启动节点报错

ERROR: cannot launch node of type [dummy_slam_broadcaster/dummy_slam_broadcaster_node]: dummy_slam_broadcaster

解决：测试激光的包没有放在～/catkin_ws/src工作空间中进行编译

（2）激光连接后，rviz无数据，有报错

Connecting to scanner at 10.8.117.129 ... Exception: Connection refused

ERROR: Exception: <unspecified file>(1): expected value

ERROR: Could not connect to laser range finder!

解决：激光ip和本机的ip不在一个网段，且这里还把激光的ip和本机的ip设置成一样的了，这是有问题的。可直接在激光上调配置

（3）同上，激光配置的还是有问题，日志提示报错

Connecting to scanner at 10.8.117.130 ... Exception:Destination Host Unreachable

ERROR: Exception: <unspecified file>(1): expected value

ERROR: Could not connect to laser range finder!

解决：不可达，无线网要禁用，要配置本机有线的网络，配置网卡的ip和子网掩码

（4）报错

errror:[test_rig3.launch] is neither a launch file in package [svo_ros] nor is [svo_ros] a launch file name The traceback for the exception was written to the log file

解决：重新编译后，未对devel路径进行设置。执行：source devel/setup.bash

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