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feat(*): migrate to ros2 humble #20

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feat(*): migrate to ros2 humble #20

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10 changes: 5 additions & 5 deletions launch/ydlidar_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,16 +36,16 @@ def generate_launch_description():
description='FPath to the ROS2 parameters file to use.')

driver_node = LifecycleNode(package='ydlidar_ros2_driver',
node_executable='ydlidar_ros2_driver_node',
node_name='ydlidar_ros2_driver_node',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
node_namespace='/',
namespace='/',
)
tf2_node = Node(package='tf2_ros',
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
executable='static_transform_publisher',
name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
)

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14 changes: 7 additions & 7 deletions launch/ydlidar_launch_view.py
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Expand Up @@ -37,21 +37,21 @@ def generate_launch_description():
description='FPath to the ROS2 parameters file to use.')

driver_node = LifecycleNode(package='ydlidar_ros2_driver',
node_executable='ydlidar_ros2_driver_node',
node_name='ydlidar_ros2_driver_node',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
node_namespace='/',
namespace='/',
)
tf2_node = Node(package='tf2_ros',
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
executable='static_transform_publisher',
name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
)
rviz2_node = Node(package='rviz2',
node_executable='rviz2',
node_name='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_file],
)

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6 changes: 3 additions & 3 deletions params/ydlidar.yaml
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Expand Up @@ -4,11 +4,11 @@ ydlidar_ros2_driver_node:
frame_id: laser_frame
ignore_array: ""
baudrate: 230400
lidar_type: 1
device_type: 0
lidar_type: 1 # 0:TYPE_TOF, 1:TYPE_TRIANGLE 2:TYPE_TOF_NET
device_type: 0 # 0:YDLIDAR_TYPE_SERIAL, 1:YDLIDAR_TYPE_TCP
sample_rate: 9
abnormal_check_count: 4
resolution_fixed: true
fixed_resolution: true
reversion: true
inverted: true
auto_reconnect: true
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44 changes: 22 additions & 22 deletions src/ydlidar_ros2_driver_node.cpp
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Expand Up @@ -41,112 +41,112 @@ int main(int argc, char *argv[]) {

CYdLidar laser;
std::string str_optvalue = "/dev/ydlidar";
node->declare_parameter("port");
node->declare_parameter<std::string>("port");
node->get_parameter("port", str_optvalue);
///lidar port
laser.setlidaropt(LidarPropSerialPort, str_optvalue.c_str(), str_optvalue.size());

///ignore array
str_optvalue = "";
node->declare_parameter("ignore_array");
node->declare_parameter<std::string>("ignore_array");
node->get_parameter("ignore_array", str_optvalue);
laser.setlidaropt(LidarPropIgnoreArray, str_optvalue.c_str(), str_optvalue.size());

std::string frame_id = "laser_frame";
node->declare_parameter("frame_id");
node->declare_parameter<std::string>("frame_id");
node->get_parameter("frame_id", frame_id);

//////////////////////int property/////////////////
/// lidar baudrate
int optval = 230400;
node->declare_parameter("baudrate");
node->declare_parameter<int>("baudrate");
node->get_parameter("baudrate", optval);
laser.setlidaropt(LidarPropSerialBaudrate, &optval, sizeof(int));
/// tof lidar
optval = TYPE_TRIANGLE;
node->declare_parameter("lidar_type");
node->declare_parameter<int>("lidar_type");
node->get_parameter("lidar_type", optval);
laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
/// device type
optval = YDLIDAR_TYPE_SERIAL;
node->declare_parameter("device_type");
node->declare_parameter<int>("device_type");
node->get_parameter("device_type", optval);
laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
/// sample rate
optval = 9;
node->declare_parameter("sample_rate");
node->declare_parameter<int>("sample_rate");
node->get_parameter("sample_rate", optval);
laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));
/// abnormal count
optval = 4;
node->declare_parameter("abnormal_check_count");
node->declare_parameter<int>("abnormal_check_count");
node->get_parameter("abnormal_check_count", optval);
laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int));


//////////////////////bool property/////////////////
/// fixed angle resolution
bool b_optvalue = false;
node->declare_parameter("fixed_resolution");
node->declare_parameter<bool>("fixed_resolution");
node->get_parameter("fixed_resolution", b_optvalue);
laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));
/// rotate 180
b_optvalue = true;
node->declare_parameter("reversion");
node->declare_parameter<bool>("reversion");
node->get_parameter("reversion", b_optvalue);
laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));
/// Counterclockwise
b_optvalue = true;
node->declare_parameter("inverted");
node->declare_parameter<bool>("inverted");
node->get_parameter("inverted", b_optvalue);
laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));
b_optvalue = true;
node->declare_parameter("auto_reconnect");
node->declare_parameter<bool>("auto_reconnect");
node->get_parameter("auto_reconnect", b_optvalue);
laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));
/// one-way communication
b_optvalue = false;
node->declare_parameter("isSingleChannel");
node->declare_parameter<bool>("isSingleChannel");
node->get_parameter("isSingleChannel", b_optvalue);
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
node->declare_parameter("intensity");
node->declare_parameter<bool>("intensity");
node->get_parameter("intensity", b_optvalue);
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
node->declare_parameter("support_motor_dtr");
node->declare_parameter<bool>("support_motor_dtr");
node->get_parameter("support_motor_dtr", b_optvalue);
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));

//////////////////////float property/////////////////
/// unit: °
float f_optvalue = 180.0f;
node->declare_parameter("angle_max");
node->declare_parameter<float>("angle_max");
node->get_parameter("angle_max", f_optvalue);
laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float));
f_optvalue = -180.0f;
node->declare_parameter("angle_min");
node->declare_parameter<float>("angle_min");
node->get_parameter("angle_min", f_optvalue);
laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float));
/// unit: m
f_optvalue = 64.f;
node->declare_parameter("range_max");
node->declare_parameter<float>("range_max");
node->get_parameter("range_max", f_optvalue);
laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));
f_optvalue = 0.1f;
node->declare_parameter("range_min");
node->declare_parameter<float>("range_min");
node->get_parameter("range_min", f_optvalue);
laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));
/// unit: Hz
f_optvalue = 10.f;
node->declare_parameter("frequency");
node->declare_parameter<float>("frequency");
node->get_parameter("frequency", f_optvalue);
laser.setlidaropt(LidarPropScanFrequency, &f_optvalue, sizeof(float));

bool invalid_range_is_inf = false;
node->declare_parameter("invalid_range_is_inf");
node->declare_parameter<bool>("invalid_range_is_inf");
node->get_parameter("invalid_range_is_inf", invalid_range_is_inf);


Expand All @@ -157,7 +157,7 @@ int main(int argc, char *argv[]) {
RCLCPP_ERROR(node->get_logger(), "%s\n", laser.DescribeError());
}

auto laser_pub = node->create_publisher<sensor_msgs::msg::LaserScan>("scan", rclcpp::SensorDataQoS());
auto laser_pub = node->create_publisher<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(rclcpp::SensorDataQoS()));

auto stop_scan_service =
[&laser](const std::shared_ptr<rmw_request_id_t> request_header,
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