ROS 雷达运行数据
2022-04-05 15:42 jym蒟蒻 阅读(157) 评论(0) 编辑 收藏 举报先测试一下雷达，记录数据。方便接下来分析源码。
1.roslaunch robot_navigation lidar.launch
@robot:~$ roslaunch robot_navigation lidar.launch
... logging to /home/jym/.ros/log/7136849a-92cc-11ec-acff-ac8247315e93/roslaunch-robot-9556.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.110:41393/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.10
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: base_laser_link
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/rplidar
* /rplidarNode/smart_control: True
NODES
/
base_footprint_to_laser (tf/static_transform_publisher)
rplidarNode (rplidar_ros/rplidarNode)
auto-starting new master
process[master]: started with pid [9566]
ROS_MASTER_URI=http://192.168.0.110:11311
setting /run_id to 7136849a-92cc-11ec-acff-ac8247315e93
process[rosout-1]: started with pid [9588]
started core service [/rosout]
process[rplidarNode-2]: started with pid [9591]
process[base_footprint_to_laser-3]: started with pid [9593]
[ INFO] [1645416734.958421258]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
RPLIDAR S/N: B2BA9A86C0E09CC7A2E09DF720683077
[ INFO] [1645416737.467053046]: Firmware Ver: 1.29
[ INFO] [1645416737.467136487]: Hardware Rev: 7
[ INFO] [1645416737.468602280]: RPLidar health status : 0
[ INFO] [1645416737.513749572]: current scan mode: Sensitivity, max_distance: 12.0 m, Point number: 7.9K , angle_compensate: 2
@robot:~$ rostopic list
/rosout
/rosout_agg
/scan
/tf
@ubuntu:~$ rostopic info /tf
Type: tf2_msgs/TFMessage
Publishers:
* /base_footprint_to_laser (http://192.168.0.110:34067/)
Subscribers: None
@ubuntu:~$ rostopic info /scan
Type: sensor_msgs/LaserScan
Publishers:
* /rplidarNode (http://192.168.0.110:43615/)
Subscribers: None
@ubuntu:~$ rostopic echo /tf
transforms:
-
header:
seq: 0
stamp:
secs: 1645416938
nsecs: 168626559
frame_id: "/base_footprint"
child_frame_id: "base_laser_link"
transform:
translation:
x: 0.1037
y: 0.0
z: 0.165
rotation:
x: 0.0
y: 0.0
z: 1.0
w: 1.79489651492e-09
---
transforms:
-
header:
seq: 0
stamp:
secs: 1645416938
nsecs: 188753740
frame_id: "/base_footprint"
child_frame_id: "base_laser_link"
transform:
translation:
x: 0.1037
y: 0.0
z: 0.165
rotation:
x: 0.0
y: 0.0
z: 1.0
w: 1.79489651492e-09
---
@ubuntu:~$ rostopic echo /scan
header:
seq: 3341
stamp:
secs: 1645416999
nsecs: 820906601
frame_id: "base_laser_link"
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.00871450919658
time_increment: 0.000101421544969
scan_time: 0.0729220882058
range_min: 0.15000000596
range_max: 12.0
ranges: [0.7699999809265137, 省略，0.7720000147819519]
intensities: [47.0, 省略,47.0]
---
header:
seq: 3342
stamp:
secs: 1645416999
nsecs: 894679719
frame_id: "base_laser_link"
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.00871450919658
time_increment: 0.000118369433039
scan_time: 0.0851076245308
range_min: 0.15000000596
range_max: 12.0
ranges: [0.7699999809265137,...省略,inf]
intensities: [47.0, 47.0,....省略, 0.0]
---
一部分ranges：
一部分intensities：
2.roslaunch robot_navigation lidar_rviz.launch
@ubuntu:~$ roslaunch robot_navigation lidar_rviz.launch
... logging to /home/jym/.ros/log/7136849a-92cc-11ec-acff-ac8247315e93/roslaunch-ubuntu-3100.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.117:41259/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.10
NODES
/
rviz (rviz/rviz)
ROS_MASTER_URI=http://192.168.0.110:11311
process[rviz-1]: started with pid [3113]
3.roslaunch robot_navigation robot_slam_laser.launch
@robot:~$ roslaunch robot_navigation robot_slam_laser.launch
... logging to /home/jym/.ros/log/a8ed1e48-92cd-11ec-8c26-ac8247315e93/roslaunch-robot-12482.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.110:38585/
SUMMARY
========
PARAMETERS
* /base_control/ackermann_cmd_topic: ackermann_cmd
* /base_control/base_id: base_footprint
* /base_control/battery_topic: battery
* /base_control/baudrate: 115200
* /base_control/cmd_vel_topic: cmd_vel
* /base_control/imu_id: imu
* /base_control/imu_topic: imu
* /base_control/odom_id: odom
* /base_control/odom_topic: odom
* /base_control/port: /dev/move_base
* /base_control/pub_imu: False
* /base_control/pub_sonar: False
* /base_control/sub_ackermann: False
* /gmapping/angularUpdate: 0.2
* /gmapping/astep: 0.05
* /gmapping/base_frame: base_footprint
* /gmapping/delta: 0.05
* /gmapping/iterations: 5
* /gmapping/kernelSize: 1
* /gmapping/lasamplerange: 0.005
* /gmapping/lasamplestep: 0.005
* /gmapping/linearUpdate: 1.0
* /gmapping/llsamplerange: 0.01
* /gmapping/llsamplestep: 0.01
* /gmapping/lsigma: 0.075
* /gmapping/lskip: 0
* /gmapping/lstep: 0.05
* /gmapping/map_frame: map
* /gmapping/map_update_interval: 2.0
* /gmapping/maxUrange: 5.0
* /gmapping/minimumScore: 50
* /gmapping/odom_frame: odom
* /gmapping/ogain: 3.0
* /gmapping/particles: 100
* /gmapping/resampleThreshold: 0.5
* /gmapping/sigma: 0.05
* /gmapping/srr: 0.1
* /gmapping/srt: 0.2
* /gmapping/str: 0.1
* /gmapping/stt: 0.2
* /gmapping/temporalUpdate: 0.5
* /gmapping/xmax: 10.0
* /gmapping/xmin: -10.0
* /gmapping/ymax