Jca at 12:42, 20 July 2024

2024-07-20T12:42:09Z

← Older revision		Revision as of 14:42, 20 July 2024
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	Ros2 Iron and YD-Lidar driver on Raspberry Pi 5		Ros2 Iron and YD-Lidar driver on Raspberry Pi 5

	~~Ends~~ up ~~not~~ working - switching to 24.04 distribution.		It ends up working - but switching to 24.04 distribution.

	==Ros2 Iron==		==Ros2 Iron==

Jca at 12:40, 20 July 2024

2024-07-20T12:40:32Z

← Older revision		Revision as of 14:40, 20 July 2024
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	Back to [[Scorpi]]		Back to [[Scorpi]]

			== Introduction ==

	Ros2 Iron and YD-Lidar driver on Raspberry Pi 5		Ros2 Iron and YD-Lidar driver on Raspberry Pi 5

			Ends up not working - switching to 24.04 distribution.

	==Ros2 Iron==		==Ros2 Iron==

Jca: Created page with "Back to Scorpi Ros2 Iron and YD-Lidar driver on Raspberry Pi 5 ==Ros2 Iron== Installation on Raspberry Pi 5 running default 64-bit OS: Debian GNU/Linux 12 (bookworm) === Base=== Add en_DK.UTF-8 in this list $ sudo dpkg-reconfigure locales Then run $ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8 $ export LANG=en_DK.UTF-8 Compiled packages are not supported for Raspberry 64-bit OS, so install from source, Followed: https://docs.ros.org/en/iron/Insta..."

2024-07-20T12:39:27Z

Created page with "Back to Scorpi Ros2 Iron and YD-Lidar driver on Raspberry Pi 5 ==Ros2 Iron== Installation on Raspberry Pi 5 running default 64-bit OS: Debian GNU/Linux 12 (bookworm) === Base=== Add en_DK.UTF-8 in this list $ sudo dpkg-reconfigure locales Then run $ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8 $ export LANG=en_DK.UTF-8 Compiled packages are not supported for Raspberry 64-bit OS, so install from source, Followed: https://docs.ros.org/en/iron/Insta..."

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Ros2 Iron and YD-Lidar driver on Raspberry Pi 5

==Ros2 Iron==

Installation on Raspberry Pi 5 running
default 64-bit OS: Debian GNU/Linux 12 (bookworm)

=== Base===
Add en_DK.UTF-8 in this list
$ sudo dpkg-reconfigure locales
Then run
$ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8
$ export LANG=en_DK.UTF-8

Compiled packages are not supported for Raspberry 64-bit OS, so install from source,
Followed:

https://docs.ros.org/en/iron/Installation/Alternatives/Ubuntu-Development-Setup.html

The result goes into ~/ros2_iron

Note that ''rosdep'' fails in most cases, as the platform is not that much supported.
Manual dependency updates are therefore used in most cases.

Note, this command takes maybe 3 hours to compile all (on Raspberry Pi 5 - (8G memory):

cd ~/ros2_iron/
colcon build --symlink-install

Add this line to ~/.bashrc
source /home/local/ros2_iron/install/setup.bash

The examples should now work (in separate terminals)
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

=== ROS2 domain ===

Ros2 domain over local network

$export | grep ROS_

could show

declare -x ROS_AUTOMATIC_DISCOVERY_RANGE="SUBNET"
declare -x ROS_DISTRO="iron"
declare -x ROS_DOMAIN_ID="8"
declare -x ROS_LOCALHOST_ONLY="0"
declare -x ROS_PYTHON_VERSION="3"
declare -x ROS_VERSION="2"

In this case, ROS cooperates with others on the local network who also have ROS_DOMAIN_ID="8."

If used, insert these into ~/.bashrc
export ROS_DOMAIN_ID=8
export ROS_LOCALHOST_ONLY="0"

ROS_DOMAIN=0 is the default.

==YDLidar driver==

Make a new ROS2 workspace for this application, here called ''scorpi_ws''

mkdir -p ~/scorpi/src
cd scorpi_ws/src

Get the modified YDLidar driver (modified for ''iron'')

ls
ydlidar_ros2

Modify scorpi_ws/src/ydlidar/params/ydlidar.yaml to the type of YDlidar you use,
For YDlidar X4 it could look like
ydlidar_node:
ros__parameters:
port: /dev/ttyUSB0
frame_id: laser_frame
ignore_array: ""
baudrate: 128000
samp_rate: 9
resolution_fixed: true
singleChannel: false
auto_reconnect: true
reversion: true
isToFLidar: false
angle_max: 180.0
angle_min: -180.0
max_range: 16.0
min_range: 0.1
frequency: 10.0

Now build the driver

cd ..
colcon build

You should get a few warnings only.

With the YDLidar X4 connected test with the driver nodes.

cd ~/scorpi_ws
ros2 run ydlidar ydlidar_node

And get something like:

[YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[YDLIDAR INFO] port: /dev/ttyUSB0
[YDLIDAR INFO] baudrate: 128000
[YDLIDAR]:SDK Version: 1.4.5
[YDLIDAR]:Lidar running correctly ! The health status: good
[YDLIDAR] Connection established in [/dev/ttyUSB0][128000]:
Firmware version: 1.4
Hardware version: 1
Model: X4
Serial: 2018060400000037
[YDLIDAR INFO] Current Sampling Rate : 5K
[YDLIDAR INFO] Now YDLIDAR is scanning ......

The node should publish /scan, e.g.:

ros2 topic list
/parameter_events
/rosout
/scan

== SLAM toolbox ==

Fetch the SLAM toolbox from https://github.com/SteveMacenski/slam_toolbox.git

cd ~/scorpi_ws/src
git clone https://github.com/SteveMacenski/slam_toolbox.git

This can not be build right away, as some dependencies are missing

sudo apt install libsuitesparse-dev
sudo apt install libeigen3-dev
sudo apt install libceres-dev
sudo apt install libbondcpp-dev

cd ~/scorpi_ws
colcon build

Compile failed with:

In file included from /home/local/scorpi_ws/src/slam_toolbox/src/slam_toolbox_common.cpp:23:
/home/local/scorpi_ws/src/slam_toolbox/include/slam_toolbox/slam_toolbox_common.hpp:34:10: fatal error: bondcpp/bond.hpp:
No such file or directory
34 | #include "bondcpp/bond.hpp"

It seems like bond.hpp is not included in the version of libbondcpp-dev.

Bond is used by the lifecycle manager - that can be disabled. So, assuming it will run without, I removed all references to bond in
include/slam_toolbox/slam_toolbox_common.hpp
src/slam_toolbox_common.cpp
Two include files, one pointer in the hpp file, two functions and two calls to these functions in the cpp file.

Then the package compiled OK.

Scorpi Ros Iron - Revision history

Jca at 12:42, 20 July 2024

Jca at 12:40, 20 July 2024