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Livox 3D lidar support #188

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Livox 3D lidar support #188

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@AndBondStyle AndBondStyle commented Nov 2, 2024 •
edited by dasimagin
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  1. Add livox-sdk2 to container.
  2. Prepare lidar net config for container
  3. Add livox ros node to our repo (with some clean up)

@dasimagin dasimagin self-requested a review November 2, 2024 22:52
dasimagin
dasimagin reviewed Nov 3, 2024
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Dockerfile Outdated
@@ -28,7 +28,8 @@ RUN apt-get update -q \
&& pip3 install --no-cache-dir -U jetson-stats \
&& rm -rf /var/lib/apt/lists/* && apt-get clean

FROM --platform=linux/amd64 ubuntu:20.04 AS truck-base-amd64
# Do not use "20.04" tag because it can be re-published and reset docker cache
FROM --platform=linux/amd64 ubuntu:focal-20240530 AS truck-base-amd64
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У меня появились почему-то проблемы на стыке python/ros2, я это связывая с тем, что мы образ обновили. Хочу перепроверить, пересобрав еще раз со старым контейнером...

root@0fb133acef20:/truck/packages# ros2 topic list
/opt/ros/iron/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
Traceback (most recent call last):
  File "/opt/ros/iron/bin/ros2", line 11, in <module>
    load_entry_point('ros2cli==0.25.7', 'console_scripts', 'ros2')()
  File "/opt/ros/iron/lib/python3.8/site-packages/ros2cli/cli.py", line 91, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/iron/lib/python3.8/site-packages/ros2topic/command/topic.py", line 41, in main
    return extension.main(args=args)
  File "/opt/ros/iron/lib/python3.8/site-packages/ros2topic/verb/list.py", line 55, in main
    with NodeStrategy(args) as node:
  File "/opt/ros/iron/lib/python3.8/site-packages/ros2cli/node/strategy.py", line 35, in __init__
    spawn_daemon(args)
  File "/opt/ros/iron/lib/python3.8/site-packages/ros2cli/node/daemon.py", line 148, in spawn_daemon
    fdlimit = int(line.removeprefix(string_to_find).strip())
AttributeError: 'str' object has no attribute 'removeprefix'

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Судя по всему эта проблема давно с нами, в humble это починили, но мы живем на Iron, а эта версия предполагает начилие Python3.9, где данный метод уже имеется. Возможно, будет проще переехать на новый софт.

dasimagin
dasimagin reviewed Nov 3, 2024
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docker-compose.yaml Outdated
@@ -1,7 +1,7 @@
services:
truck:
container_name: "${CONTAINER_NAME:-truck-${USER}}"
image: "registry.robotics-lab.ru/truck:0.11.1"
image: "registry.robotics-lab.ru/truck:0.12.0-dev" # FIXME
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Давайте не забудем убрать...

dasimagin
dasimagin approved these changes Nov 3, 2024
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packages/livox_driver/msg/CustomPoint.msg
Comment on lines +1 to +9
# Livox costom pointcloud format.

uint32 offset_time # offset time relative to the base time
float32 x # X axis, unit:m
float32 y # Y axis, unit:m
float32 z # Z axis, unit:m
uint8 reflectivity # reflectivity, 0~255
uint8 tag # livox tag
uint8 line # laser number in lidar
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Можно будет потом вовсе все это выкинуть, как упростим ноду еще сильнее.

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Сейчас пишется в стандартные sensor_msgs/PointCloud2 вот с такими полями:

float32 x               # X axis, unit:m
float32 y               # Y axis, unit:m
float32 z               # Z axis, unit:m
float32 intensity       # the value is reflectivity, 0.0~255.0
uint8   tag             # livox tag
uint8   line            # laser number in lidar
float64 timestamp       # Timestamp of point

Меня напрягает:

  • intensity: почему не uint8 а float32
  • tag, line - не уверен что вообще нужны
  • timestamp - кажется точно не нужен и много места занимает

@apmilko apmilko self-requested a review February 2, 2025 13:50
apmilko
apmilko reviewed Feb 2, 2025
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packages/model/config/model.yaml Outdated
@@ -36,7 +36,7 @@ tf_static:
- frame_id: "base"
child_frame_id: "lidar_link"
translation: { x: 0.0, y: 0.0, z: 0.0 }
rotation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }
rotation: { x: 0, y: 0.0, z: 1.0, w: 0.0 }
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x: 0.0

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@apmilko apmilko apmilko approved these changes

@dasimagin dasimagin Awaiting requested review from dasimagin

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@AndBondStyle @dasimagin @apmilko