I-DFRobot LiDAR LD19 Laser Sensor Kit
INGCACISO YEMVELISO
I-LD19 ubukhulu becala yenziwe nge-laser range core, iyunithi ye-telex engenazingcingo, iyunithi yonxibelelwano engenazingcingo, iyunithi yokulinganisa i-angle, iyunithi yokuqhuba i-motor kunye ne-mechanical casing.
Undoqo we-LD19 usebenzisa iteknoloji ye-DTOF, enokulinganisa amaxesha angama-4,500 ngomzuzwana. Ngalo lonke ixesha umgama ulinganiswa, i-LD19 ikhupha i-laser ye-infrared phambili, kwaye i-laser ibonakaliswe kwiyunithi enye yokufumana i-photon emva kokudibana nento ekujoliswe kuyo. Kule nto, sifumene ixesha apho i-laser ikhutshwe kunye nexesha apho iyunithi yokufumana i-photon enye ifumene i-laser. Umahluko wexesha phakathi kwezi zimbini lixesha lokubhabha kokukhanya. Ixesha lokuhamba linokudityaniswa nesantya sokukhanya ukubala umgama.
Emva kokufumana idatha yomgama, i-LD19 iya kudibanisa amaxabiso e-angle alinganiswe yunithi yokulinganisa i-angle ukwenza i-point data cloud, kwaye emva koko ithumele idatha yefu ye-point kwi-interface yangaphandle ngonxibelelwano olungenazintambo. I-LD19 ixhasa ulawulo lwesantya sangaphakathi, isantya sinokuzinziswa ukuya kwi-10±0.1Hz ngaphakathi kwe-3seconds emva kombane. Ngexesha elifanayo, i-PWM i-interface yegalelo yangaphandle inikezelwa ukuxhasa ulawulo lwesantya sangaphandle. Emva kokuba iyunithi yokulawula yangaphandle ifumene isantya, ilawulwa yi-PID algorithm ivaliwe-loop, kunye ne-PWM yesiginali ifakwe kwi-makeLD19 ukufikelela kwisantya esichaziweyo.
Umzekeliso wokuskena kokusingqongileyo owenziwe yidatha yelifu ye-LD19 uboniswe ngezantsi:
UMNTU WONXIBELELWANO
I-LD19 isebenzisa i-ZH1.5T-4P i-1.5mm ikhonkco ukudibanisa nenkqubo yangaphandle ukuqonda ukunikezelwa kwamandla kunye nokwamkelwa kwedatha. Inkcazo yojongano oluthile kunye neemfuno zeparameter zibonisiwe kulo mzobo/itheyibhile ilandelayo:
| izibuko inani | uphawu igama | uhlobo | inkcazelo ion | mini umama | eqhelekileyo | maxi umama |
| 1 | Tx | imveliso | LiDAR
imveliso yedatha |
ov | 3.3V | 3.5V |
| 2 | PWM | igalelo | ulawulo lwemoto | ov | - | 3.3V |
| 3 | GND | ukunikezwa Amandla | embi | - | ov | - |
| 4 | I-P5V | ukunikezwa Amandla | entle | 4.5V | 5V | 5.5V |
I-LD19 inomqhubi wemoto kunye nesinyathelo esincinci sokulawula isantya, esixhasa ulawulo lwangaphakathi lwesantya kunye nokulawula isantya sangaphandle. Xa isikhonkwane se-PWM sisekelwe phantsi, ukungagqibeki kukulawulwa kwesantya sangaphakathi, kunye nesantya esingagqibekanga yi-10±0.1Hz. Ukulawulwa kwesantya sangaphandle, isiginali ye-square wave kufuneka idityaniswe kwipini ye-PWM, kwaye ukuqala, ukumisa kunye nesantya semoto kunokulawulwa ngomjikelo womsebenzi wesiginali ye-PWM. Iimeko zokuqalisa ulawulo lwesantya sangaphandle: a. Igalelo PWM frequency 20-50K, kucetyiswa 30K; b. Umjikelo womsebenzi ungaphakathi (45%, 55%) lekhefu (ngaphandle kwama-45% kunye nama-55%), kunye ubuncinane ne-100ms yexesha eliqhubekayo lokufakwayo. Emva kokuba kuqhutywe ukulawulwa kwesantya sangaphandle, kuhlala kukwimeko yokulawula isantya sangaphandle, kwaye ukulawulwa kwesantya sangaphakathi kuya kubuyiselwa ngaphandle kokuba umbane ucinywe kwaye uqalise kwakhona; ngelo xesha, ulawulo lwesantya lunokwenziwa ngokulungelelanisa umjikelezo womsebenzi we-PWM. Ngenxa yomahluko ngamnye wemoto nganye yemveliso, esona santya sisenokwahluka xa umjikelo womsebenzi usetelwe kwixabiso eliqhelekileyo. Ukulawula ngokuchanekileyo isantya semoto, kuyimfuneko ukwenza ulawulo oluvaliweyo ngokweenkcukacha zesantya kwidatha efunyenweyo. Phawula: Xa ungasebenzisi ulawulo lwesantya sangaphandle, iphini ye-PWM kufuneka ibekwe phantsi.
Unxibelelwano lwedatha ye-LD19 yamkele i-standard universal asynchronous serial port (UART) uthumelo lwendlela enye, kunye neeparamitha zayo zothumelo ziboniswe kolu luhlu lulandelayo:
| izinga baud | ubude bedatha | yima kancinci | ukulingana kancinci | ulawulo lokuqukuqela | |||
| 230400bit/s | Iibhithi ezili-8 | I | 1 | I | akukho nanye | I | akukho nanye |
IPROTOCOL YEDATHA
Ifomathi yepakethe yedatha
I-LD19 yamkele unxibelelwano lwendlela enye. Emva kokusebenza okuzinzileyo, iqala ukuthumela iipakethi zedatha yomlinganiselo ngaphandle kokuthumela nayiphi na imiyalelo. Ifomathi yepakethe yokulinganisa iboniswe kumzobo ongezantsi.
| Okubhalwe ngasentla kwekhasi | VerLen | Isantya | I-engile yokuqalisa | Idatha | I-engile yokuphela | Ixeshaamp | CRC khangela | ||||
| 54H | Mna Byte | LSB | I-MSB | LSB | I-MSB | …… | LSB | I-MSB | LSB | I-MSB | Mna Byte |
- Okubhalwe ngasentla kwekhasi: Ubude buyi-1 Byte, kwaye ixabiso liqiniswe kwi-0x54, ebonisa ukuqala kwepakethi yedatha;
- Verlen: Ubude buyi-1 Byte, iibhithi ezintathu eziphezulu zibonisa uhlobo lwepakethi, okwangoku igxininiswe kwi-1, kwaye iibhithi ezintlanu ezisezantsi zibonisa inani lamanqaku okulinganisa kwipakethi, okwangoku igxininiswe kwi-12, ngoko ixabiso le-byte lilungisiwe. kwi-0x2C;
- Isantya: Ubude buyi-2 Byte, iyunithi idigri ngesibini, ebonisa isantya se-lidar;
- I-engile yokuqalisa: Ubude buyi-2 Bytes, kwaye iyunithi i-0.01 degrees, ebonisa i-angle yokuqala yendawo yepakethe yedatha;
- Idatha: Ibonisa idatha yokulinganisa, ubude bedatha yokulinganisa yi-3 bytes, nceda ubhekisele kwicandelo elilandelayo ukuze ufumane uhlalutyo olunzulu;
- I-engile yokuphela: Ubude buyi-2 Bytes, kwaye iyunithi i-0.01 degrees, ebonisa i-angle yokuphela kwendawo yepakethe yedatha;
- Ixeshaamp : Ubude buyi-2 Bytes, iyunithi yi-milliseconds, kwaye ubuninzi buyi-30000. Xa ifika kwi-30000, iya kubalwa kwakhona, ibonisa amaxesha.amp ixabiso lepakethi yedatha;
- jonga i-CRC: Ubude buyi-1 Byte, efunyenwe ekuqinisekisweni kwayo yonke idatha yangaphambili ngaphandle kwayo. Kwindlela yokuqinisekisa ye-CRC, bona umxholo olandelayo ngeenkcukacha;
Ulwakhiwo lwedatha luhamba ngolu hlobo lulandelayo:
#chaza iPO/NT_PER_PACK 12
#chaza HEADER 0x54
i-typedef struct _attribute_((ipakishiwe))
{uint16_t umgama;
uint8_t ubunzulu; } LidarPointStructDef;
i-typedef struct _attribute_((ipakishiwe)) {
uint8_t: iheda
uint8 t: ver_len;
uint16_t: isantya
uint16 t: i-engile_ yokuqalisa;
indawo yeLidarPointStructDef[POINT_PER_PACK};
uint16 t: isiphelo_engile;
uint16_t: amaxeshaamp;
uint8 t: crc8;
}LiDARFrameTypeDef;
Indlela yokubala ye-CRC yokukhangela imi ngolu hlobo lulandelayo:
| i-static canst uint8_t CrcTable{256]={ 0x00, 0x4d, 0x9a, 0xdl, 0x79, 0x34, 0xe3, 0xae, 0xf2, 0xbf, 0x68, 0x25, 0x8b, 0xc6, 0x11, 0x5c, 0xa9, 0xe4, 0x33, 0xle, 0xd0, 0x9d, 0x4a, 0x0l, 0x5b, 0x16, 0xcl, 0x8c, 0x22, 0x6f, 0xb8, 0xf5, 0xlf, 0x52, 0x85, 0xc8, 0x66, 0x2b, 0xfc, 0xbl, 0xed, 0xa0, 0xll, 0x3a, 0x94, 0xd9, 0x0e, 0x43, 0xb6, 0xfb, 0x2c, 0x61, 0xcf, 0x82, 0x55, Ox18, Ox44, Ox09, Oxde, Ox93, Ox3d, OxlO, Oxal, Oxea, Ox3e, Ox73, Oxa4, Oxe9, Ox47, OxOa, Oxdd, Ox90, Oxee, Ox81, Ox56, Oxlb, Oxb5, Oxf8, Ox2f, Ox62, Ox97, Oxda, OxOd, Ox40, Oxee, Oxa3, Ox74, Ox39, Ox65, Ox28, Oxff, Oxb2, Oxle, Ox51, Ox86, Oxeb, Ox21, Ox6e, Oxbb, Oxf6, Ox58, Ox15, Oxe2, Ox8f, Oxd3, Ox9e, Ox49, Ox04, Oxaa, Oxel, Ox30, Oxld, Ox88, Oxe5, Ox12, Ox5f, Oxfl, Oxbe, Ox6b, Ox26, Oxla, Ox37, OxeO, Oxad, Ox03, Ox4e, Ox99, Oxd4, Oxle, Ox31, Oxe6, Oxab, Ox05, Ox48, Ox9f, Oxd2, Ox8e, Oxe3, Ox14, Ox59, Oxfl, Oxba, Ox6d, Ox20, Oxd5, Ox98, Ox4f, Ox02, Oxae, Oxel, Ox36, Oxlb, Ox27, Ox6a, Oxbd, OxfO, Ox5e, Ox13, Oxe4, Ox89, Ox63, Ox2e, Oxf9, Oxb4, Oxla, Ox57, Ox80, Oxed, Ox91, Oxde, OxOb, Ox46, Oxe8, Oxa5, Ox72, Ox3f, Oxca, Ox87, Ox50, Oxld, Oxb3, Oxfe, Ox29, Ox64, Ox38, Ox75, Oxa2, Oxef, Ox41, OxOe, Oxdb, Ox96, Ox42, OxOf, Oxd8, Ox95, Ox3b, Ox76, Oxal, Oxee, OxbO, Oxfd, Ox2a, Ox67, Oxe9, Ox84, Ox53, Oxle, Oxeb, Oxa6, Ox71, Ox3e, Ox92, Oxdf, Ox08, Ox45, Ox19, Ox54, Ox83, Oxee, Ox60, Ox2d, Oxfa, Oxbl, Ox5d, Ox10, Oxel, Ox8a, Ox24, Ox69, Oxbe, Oxf3, Oxaf, Oxe2, Ox35, Ox 78, Oxd6, Ox9b, Ox4e, Ox01, Oxf4, Oxb9, Ox6e, Ox23, Ox8d, OxeO, Oxl 7, Ox5a, Ox06, Ox4b, Ox9e, Oxdl, Oxlf, Ox32, Oxe5, Oxa8 }; uint8_t CaJCRC8{uint8_t *p, uint8_t Jen){ uint8_t ere=O; uint16_t mna; kuba (i = O; i <Jen; i++){ ere= CreTabJe[(nantsi J\ *p++) & Oxff]; } buyela ere; |
Uhlalutyo lwedatha yokulinganisa
Indawo nganye yedatha yokulinganisa iquka ixabiso lomgama we-2-byte kunye ne-1-byte yexabiso lokuzithemba, njengoko kuboniswe kumzobo ongezantsi.
| Okubhalwe ngasentla kwekhasi | VerLen | Isantya | I-engile yokuqalisa | Idatha | I-engile yokuphela | Ixeshaamp | CRC khangela | ||||
| 54H | 2cH | LSB | I-MSB | LSB | I-MSB | …… | LSB | I-MSB | LSB | I-MSB | lByte |
| Inqaku lokulinganisa 1 | Inqaku lokulinganisa 2 | … | Indawo yokulinganisa n | ||||||
| umgama | ubunzulu | umgama | ubunzulu | umgama | ubunzulu | ||||
| LSB | I-MSB | 1 Byte | LSB | I-MSB | 1 Byte | … | LSB | I-MSB | 1 Byte |
Iyunithi yexabiso lomgama yi-mm. Ixabiso lobungakanani besignali libonakalisa ubunzulu bokukhanya. Ukuphakama koxinzelelo, ubukhulu bexabiso lobungakanani bomqondiso; Okukhona kusezantsi koxinzelelo, kokukhona lincinci ixabiso lobungakanani bomqondiso. Kwinto emhlophe ngaphakathi kwe-6m, ixabiso eliqhelekileyo lexabiso lamandla omqondiso lijikeleze i-200. Ixabiso le-angle yenqaku ngalinye lifunyenwe ngokuguqulwa komgca we-angle yokuqala kunye ne-angle yokuphela. Indlela yokubala engile ngolu hlobo lulandelayo:
step= (isiphelo_iengile -isiqalo_engile)/(Jen -1);
iengile=isiqalo_iengile + inyathelo*i;
apho iJen linani lamanqaku omlinganiselo kwipakethi yedatha, kunye noluhlu lwexabiso lwe-i yi [O, Jen).
Example
Masithi sifumana isiqwenga sedatha njengoko kubonisiwe ngezantsi.
54 2C 68 08 AB 7E EO 00 E4 DC 00 E2 D9 00 ES DS 00 E3 D3 00 E4 YENZA 00 E9 CD 00 E4 CA 00 E2 C7 00 E9 CS 00 ES C2 00 ES CO 00A82A BE 3A50A BE
Siyihlalutya ngolu hlobo lulandelayo:
| Okubhalwe ngasentla kwekhasi | VerLen | Isantya | I-engile yokuqalisa | Idatha | I-engile yokuphela | Ixeshaamp | CRC khangela | ||||
| 54H | 2CH | 68H | 08H | ABH | 7EH | …… | BEH | 82H | 3AH | lAH | 50H |
| Inqaku lokulinganisa 1 | Inqaku lokulinganisa 2 |
••• |
Inqaku lokulinganisa 12 | ||||||
| umgama | ubunzulu | umgama | ubunzulu | umgama | ubunzulu | ||||
| EOH | OOH | E4H | DCH | OOH | E2H | … | BOH | OOH | EAH |
| Ulwazi lommandla | Inkqubo yokwahlulahlula |
| Isantya | 0868H = 2152 degrees ngesekhondi; |
| I-engile yokuqalisa | 7EABH = 32427, okanye 324.27 degrees; |
| I-engile yokuphela | 82BEH = 33470, okanye i-334.7 degrees; |
| Indawo yokulinganisa ndingumgama | OOEOH = 224mm |
| Inqaku lokulinganisa 1 ubunzulu | E4H = 228 |
| Inqaku lokulinganisa umgama wesi-2 | OODCH = 200mm |
| Inqaku lokulinganisa 2 ubunzulu | OOE2H=226 |
| … | … |
| Inqaku lokulinganisa umgama wesi-12 | OOBOH = 176mm |
| Inqaku lokulinganisa 12 ubunzulu | EAH=234 |
INKQUBO YOQUQUZELELA
I-LD19 isebenzisa inkqubo yokulungelelaniswa kwesandla sasekhohlo, iziko lokujikeleza liyimvelaphi yokulungelelanisa, i-front of sensor ichazwa njenge-direction ye-zero-degree, kwaye i-angle yokujikeleza inyuka nge-clockwise, njengoko kuboniswe kumfanekiso ongezantsi.
IMIYALELO YEKHITHI YOPHUHLISO
Indlela yokusebenzisa isixhobo sovavanyo
Uqhagamshelo lwentambo ye-Hardware kunye nenkcazo
- I-LiDAR, ucingo, ibhodi yeadaptha ye-USB, njengoko kubonisiwe kulo mfanekiso ulandelayo:
- Umzobo woqhagamshelo, njengoko kubonisiwe kulo mfanekiso ungezantsi:
Ukufakwa komqhubi phantsi kweWindows
Xa uvavanya iimveliso zenkampani phantsi kweWindows, kuyimfuneko ukufaka umqhubi we-serial port webhodi ye-adapter ye-USB. Isizathu kukuba ibhodi ye-adapter ye-USB kwikhithi yophuhliso ebonelelwe yinkampani ithatha i-CP2102 USB kwi-chip ye-serial port adapter chip, kwaye umqhubi wayo unokufumaneka kwi-Silicon Khuphela kwi-Labs 'esemthethweni. webindawo:
https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers
Okanye,Emva kokucinezela i-CP210x_Universal_Windows_Driver package, yenza i-exe file kulawulo lwephakheji yofakelo lomqhubi, kwaye ukhethe X86 (32-bit) okanye X64 (64-bit) ngokwenkqubo yeWindows.
Cofa kabini kwi-exe file kwaye ulandele izikhokelo zokuyihlohla.
Emva kokuba ukufakela kugqityiwe, qhagamshela ibhodi yeadaptha ye-USB kwikhithi yophuhliso kwikhompyuter, cofa ekunene [iKhompyutha yam], khetha [iiProperties], kwaye kwi-interface ye [System] evuliweyo, khetha [Umphathi weSixhobo] kwimenyu esekhohlo. ukungena Yiya kumphathi wesixhobo, wandise [Izibuko], ungabona inombolo yesiriyali yezibuko ehambelana neadaptha ye-USB eyaziwayo CP2102, oko kukuthi, umqhubi ufakwe ngempumelelo, kwaye umzobo ongezantsi ngu-COM4.
Ukusebenzisa i-LdsPointCloudViewisoftware phantsi kweWindows
Inqaku lesoftware yokubonwa kwelifu LdsPointCloudViewUngabonisa idatha eskeniweyo yale mveliso ngexesha lokwenyani, kwaye abaphuhlisi banokusebenzisa le software ukujonga ukuskena unikezelo lwale mveliso. Ngaphambi kokusebenzisa le software, kuyimfuneko ukwahlula ukuba umqhubi webhodi ye-adaptha ye-USB yale mveliso ifakwe ngempumelelo, kwaye imveliso idityaniswe nezibuko le-USB le-PC yenkqubo yeWindows, emva koko ucofe kabini i-LdsPointCloud.Viewer.exe, kwaye ukhethe imodeli yemveliso ehambelanayo kunye nenombolo ye-port, cofa iqhosha lokuqala lokuhlaziya ilifu, njengoko kubonisiwe kulo mfanekiso ulandelayo.
Kulo mfanekiso ungasentla,
'Isantya' simele i-lidar scanning frequency, iyunithi: Hz;
'Ireyithi' imele ireyithi yesisombululo sepakethe yedatha yelidar;
'Iyasebenza' imele indawo esebenzayo yesiciko sokulinganisa isangqa.
Imveliso ye-3D imodeli file
Vula i-LiDAR_LD19_3D_stp_Vl.0 file ukufumana imodeli ye-3D file kwifomati ye-STP.
Ukusebenza okusekwe kwiROS phantsi kweLinux
Ukuqaliswa kokusingqongileyo kwe-ROS kunye nofakelo
I-ROS (i-Robot Operating System) yinkqubo evulekileyo ye-meta-operating yeerobhothi kunye ne-middleware eyakhelwe kwi-Linux. Ibonelela ngeenkonzo ezilindelekileyo kwinkqubo yokusebenza, kubandakanywa ukutsalwa kwehardware, ulawulo lwesixhobo esikwinqanaba elisezantsi, ukuphunyezwa kwemisebenzi esetyenziswa ngokuqhelekileyo, umyalezo odlulayo phakathi kweenkqubo, nolawulo lwephakheji. Ikwabonelela ngezixhobo kunye nemisebenzi yethala leencwadi efunekayo ukufumana, ukuqulunqa, ukubhala, nokuqhuba ikhowudi kuzo zonke iikhompyutha. Ngamanyathelo ofakelo lwenguqulo nganye ye-ROS, nceda ubhekisele kwi-ROS esemthethweni webindawo: http://wiki.ros.org/ROS/lnstallation
Iphakheji yokusebenza yeROS yale mveliso ixhasa ezi nguqulelo zilandelayo kunye nokusingqongileyo:
- I-ROS Kinetic(Ubuntu16.04);
- I-ROS Melodic(Ubuntu18.04);
- I-ROS Noetic(Ubuntu20.04).
Fumana ikhowudi yomthombo we-ROS Package
Ikhowudi yomthombo we-ROS umsebenzi wephakheji yale mveliso ibanjwe kwindawo yokugcina ye-Github. Unokukhuphela ikhowudi yomthombo wenkosi okanye isebe eliphambili ngokufikelela kwikhonkco yenethiwekhi yendawo yokugcina, okanye uyikhuphele nge-git tool.Abasebenzisi banokukhupha ngokuthe ngqo i-SDK LD19> ldlidar stl ros.zi kwindlela elandelayo yokusetyenziswa.
- Uvimba webidilesi yendawo
► https://github.com/DFRobotdl/ldlidarstlros - git isixhobo sokukhuphela umsebenzi
| # Okokuqala vula ujongano lwesiphelo sendlela, ungasebenzisa iqhosha elinqumlayo le-ctrl+alt+t
# Ukuba inkqubo ye-Ubuntu oyisebenzisayo ayinaso isixhobo se-git efakiweyo, ungayifaka njenge ilandelayo: $ sudo apt-fumana ukufaka i-git # Khuphela ikhowudi yemvelaphi yephakheji yomsebenzi we-ROS: $ cd ~ $ mkdir -p ldlidar_ros_ws/src $ cd ~/ldlidar_ros_ws/src $git clone https://github.com/DFRobotdl/ldlidar_stl_ros.git #okanye $ unzip ldlidar_stl_ros.zip |
Seta iimvume zesixhobo
Okokuqala, qhagamshela i-lidar kwimodyuli yethu ye-adapter (i-adapter ye-CP2102), kwaye udibanise imodyuli kwikhompyutheni. Emva koko, vula i-terminal phantsi kwenkqubo ye-ubuntu kwaye ungene Is /dev/ttyUSB* ukujonga ukuba isixhobo sothotho sidityanisiwe. Ukuba isixhobo sothotho lwezibuko sibhaqiwe, sebenzisa i sudo ch mod 777 /dev/ttyUSB* uyalele ukuba uyinike elona gunya liphakamileyo, oko kukuthi, ukunika file umnini, iqela, kunye nabanye abasebenzisi bafunde, babhale kwaye baphumeze iimvume, njengoko kubonisiwe kulo mfanekiso ulandelayo.
Ekugqibeleni, lungisa ifayile port_name ixabiso kwi ld19.launch file kwi ~/ldldiar_ros_ws/src/ldlidar_stl_ros/launch/ ulawulo. Thatha i-lidar efakwe kwinkqubo njenge /dev/ttyUSB0 njenge-example, njengoko kubonisiwe ngezantsi.
| $ nano ~/Jdlidar _ros_ ws/src/ldldiar _stl_ros/launch/ld19.launch |
Umhleli we-Linux nano: Ctrl + 0 igcina ehleliweyo file; U-Ctrl + X uphuma kujongano lokuhlela.
Ulwakhiwo kunye nezicwangciso zokusingqongileyo
- Sebenzisa inkqubo yokuhlanganisa i-catkin ukuqokelela kunye nokwakha iphakheji yomsebenzi wemveliso:
$ cd ~/fdlidauos~ws
. $ catkin_make - Useto oluguquguqukayo lwemeko yephakheji yomsebenzi:
Emva kokuba uqulunqo lugqityiwe, kufuneka udibanise okufanelekileyo files uveliswe kukudityaniswa kwezinto eziguquguqukayo zokusingqongileyo, ukuze i-ROS ikwazi ukuzibona. Umyalelo wophumezo umi ngolu hlobo lulandelayo. Lo myalelo kukongeza okwethutyana izinto eziguquguqukayo zemekobume kwi-terminal, okuthetha ukuba ukuba uphinda uvule i-terminal entsha, kufuneka uphinde uyenze. Lo myalelo ulandelayo.
| $ cd ~/tdlidar_ros_ws $ source devel/setup.bash |
Ukuze ungaze ufune ukwenza lo myalelo ungasentla ukongeza izinto eziguquguqukayo zemekobume emva kokuphinda uvule i-terminal, ungenza oku kulandelayo.
| Umthombo we-echo ye-$ ~//dlidar_ros_ws/devel/setup.bash » ~/bashrc $ umthombo ~/bashrc |
Qhuba i-node kwaye i-Rviz ibonise i-LiDAR point cloud
Qala i-lidar node kwaye wenze lo myalelo ulandelayo.
| $ roslaunch ldlidar_stl_ros ld19.launch |
Qala i-lidar node kwaye ubonise i-lidar point data cloud kwi-Rviz, yenza lo myalelo ulandelayo.
| # ukuba iROS_DISTRO kwi-'kinetic' okanye 'melodic' $ ros/unch ldlidar_st/_ros viewer_ld19_kinetic_me/odic.launch # ukuba iROS_DISTRO kwi 'noetic' $ ros/unch ldlidar_st/_ros viewer_ld19_noetic.launch |
Ukusebenza okusekwe kwi-ROS2 phantsi kweLinux
I-ROS2 ukwaziswa kokusingqongileyo kunye nofakelo
I-ROS (i-Robot Operating System) yinkqubo evulekileyo ye-meta-operating yeerobhothi kunye ne-middleware eyakhelwe kwi-Linux. Ibonelela ngeenkonzo ezilindelekileyo kwinkqubo yokusebenza, kubandakanywa ukutsalwa kwehardware, ulawulo lwesixhobo esikwinqanaba elisezantsi, ukuphunyezwa kwemisebenzi esetyenziswa ngokuqhelekileyo, umyalezo odlulayo phakathi kweenkqubo, nolawulo lwephakheji. Ikwabonelela ngezixhobo kunye nemisebenzi yethala leencwadi efunekayo ukufumana, ukuqulunqa, ukubhala, nokuqhuba ikhowudi kuzo zonke iikhompyutha. I-robotics kunye noluntu lwe-ROS lutshintshile kakhulu ukususela ekubeni i-ROS iqaliswe kwi-2007. Injongo yeprojekthi ye-ROS2 kukulungelelanisa nolu tshintsho, ukusebenzisa amandla e-ROSl kunye nokuphucula ubuthathaka. Ngamanyathelo ofakelo lwe-ROS2, nceda ubhekiselele kwigosa webindawo yeROS2: https://docs.ros.org/en/foxy/lnstallation.html
Iphakheji yokusebenza ye-ROS2 yale mveliso ixhasa ukusetyenziswa kwe-ROS2 foxy version nangaphezulu.
Fumana ikhowudi yomthombo we-ROS2 Package
Ikhowudi yemvelaphi ye-ROS2 umsebenzi wephakheji yale mveliso ibanjwe kwiindawo zokugcina ze-Github. Unokukhuphela ikhowudi yemvelaphi yenkosi okanye isebe eliphambili ngokufikelela kwikhonkco yenethiwekhi yendawo yokugcina, okanye uyikhuphele ngesixhobo segit.Abasebenzisi banokukhupha ngokuthe ngqo. SDK LD19 > ldlidar_stl_ros2.ziR kule ndlela ilandelayo yokusetyenziswa.
- Uvimba webidilesi yendawo
► https://github.com/DFRobotdl/ldlidarstlros2 - git isixhobo sokukhuphela umsebenzi
| # Qala uvule ujongano lwesiphelo, ungasebenzisa iqhosha elinqumlayo le-ctrl+alt+t # Ukuba inkqubo ye-Ubuntu oyisebenzisayo ayinaso isixhobo se-git efakiweyo, ungayifaka njenge ilandelayo: $ sudo apt-fumana ukufaka i-git # Khuphela ikhowudi yomthombo wephakheji yomsebenzi we-ROS2: $ cd ~ $ mkdir -p ldlidar_ros2_ ws/src $ cd ~/ldlidar_ros2_ws/src $ git clone https://github.com/DFRobotdl/ldlidar_st/_ros2.git #okanye $ unzip ldlidar_st/_ros2.zip |
Seta iimvume zesixhobo
Okokuqala, qhagamshela i-lidar kwimodyuli yethu ye-adapter (i-adapter ye-CP2102), kwaye udibanise imodyuli kwikhompyutheni. Emva koko, vula i-terminal phantsi kwenkqubo ye-ubuntu kwaye ungene Is /dev/ttyUSB* ukujonga ukuba isixhobo sothotho sidityanisiwe. Ukuba isixhobo sothotho lwezibuko sibhaqiwe, sebenzisa i sudo chmod 777 /dev/ttyUSB* uyalele ukuba uyinike elona gunya liphakamileyo, oko kukuthi, ukunika file umnini, iqela, kunye nabanye abasebenzisi bafunde, babhale kwaye baphumeze iimvume, njengoko kubonisiwe kulo mfanekiso ulandelayo.
Ekugqibeleni, lungisa ifayile port_name ixabiso kwi ld19.launch.py file kwi ~/ldldiar_ros2_ws/src/ldlidar_stl_ros2/launch/ ulawulo. Thatha i-lidar efakwe kwinkqubo njengoko /dev/ttyUSBO njenge example, njengoko kubonisiwe ngezantsi.
| $ nano ~ /ldlidar _ros2_ ws/src/ldldiar_stl_ros2/launch/ld19.launch.py |
Umhleli we-Linux nano: Ctrl + 0 igcina ehleliweyo file; U-Ctrl + X uphuma kujongano lokuhlela.
Ulwakhiwo kunye nezicwangciso zokusingqongileyo
- Sebenzisa inkqubo yokuhlanganiswa kwe-colcon ukuqokelela kunye nokwakha iphakheji yomsebenzi wemveliso:
$ cd ~/fdlidauos2 ~ws
. $ co/con ukwakha - Useto oluguquguqukayo lwemeko yephakheji yomsebenzi:
Emva kokuba uqulunqo lugqityiwe, kufuneka udibanise okufanelekileyo files uveliswe kukudityaniswa kwezinto eziguquguqukayo zokusingqongileyo, ukuze imo engqongileyo ye-ROS2 ibonakale. Umyalelo wophumezo ngolu hlobo lulandelayo. Lo myalelo kukongeza okwethutyana izinto eziguquguqukayo zemekobume kwi-terminal, okuthetha ukuba ukuba uphinda uvule i-terminal entsha, kufuneka uphinde uyenze. Lo myalelo ulandelayo.
| $ cd ~/Jdlidar_ros2_ws $ umthombo install/setup.bash |
Ukuze ungaze ufune ukwenza lo myalelo ungasentla ukongeza izinto eziguquguqukayo zemekobume emva kokuphinda uvule i-terminal, ungenza oku kulandelayo.
| $ Umthombo we-echo ~/Jdlidar_ros2_ws/install/setup.bash » ~j.bashrc |
| $ umthombo ~j.bashrc |
Qhuba i-node kunye ne-Rviz2 bonisa i-LiDAR point cloud
Qala i-lidar node kwaye wenze lo myalelo ulandelayo.
| $ ros2 sungula ldlidar_stl_ros2 ld19.launch.py |
Qala i-lidar node kwaye ubonise i-lidar point cloud kwi-Rviz2, yenza lo myalelo ulandelayo.
| $ ros2 sungula ldlidar_stl_ros2 viewer_ld19.launch.py |
Imiyalelo yokusebenzisa i-SDK phantsi kweLinux
Fumana ikhowudi yemvelaphi ye-SDK
Ikhowudi yemvelaphi ye Linux SOK yale mveliso ibanjwe kwiindawo zokugcina zeGithub. Unokukhuphela ikhowudi yomthombo wenkosi okanye isebe eliphambili ngokufikelela kwikhonkco yenethiwekhi yendawo yokugcina, okanye uyikhuphele ngegittool. Abasebenzisi banokukhupha ngokuthe ngqo SOK L019 > ldlidar stl sdk.zip kule ndlela ilandelayo yokusetyenziswa.
- Uvimba webidilesi yendawo
► https://github.com/OFRobotdl/ldlidarstlsdk - git isixhobo sokukhuphela umsebenzi
| # Qala uvule ujongano lwesiphelo, ungasebenzisa iqhosha elinqumlayo le-ctrl+alt+t # Ukuba inkqubo ye-Ubuntu oyisebenzisayo ayinaso isixhobo se-git efakiweyo, ungayifaka njenge ilandelayo: $ sudo apt-fumana ukufaka i-git # Khuphela ikhowudi yomthombo: $ cd ~ $ mkdir ldlidar_ws $ cd ~/ldlidar_ws $ git clone https://github.com/DFRobotdl/ldlidar_stl_sdk.git #okanye $ unzip ldlidar_stl_sdk.zip |
Seta iimvume zesixhobo
Okokuqala, qhagamshela i-lidar kwimodyuli yethu yeadaptha (CP2102 iadaptha}, kwaye uqhagamshele imodyuli kwikhompyuter. Emva koko, vula i-terminal phantsi kwenkqubo yobuntu kwaye ungene Is /dev/ttyUSB* ukujonga ukuba isixhobo sothotho sidityanisiwe. Ukuba isixhobo sothotho lwezibuko sibhaqiwe, sebenzisa i sudo chmod 777 /dev/ttyUSB* uyalele ukuba uyinike elona gunya liphakamileyo, oko kukuthi, ukunika file umnini, iqela, kunye nabanye abasebenzisi bafunde, babhale kwaye baphumeze iimvume, njengoko kubonisiwe kulo mfanekiso ulandelayo.
Yakha
Ikhowudi yomthombo ikhowudi kwiC ++ 11 yolwimi oluqhelekileyo lweC ++ kunye neC99 yolwimi oluqhelekileyo lweC. Sebenzisa i-CMake, i-GNU-make, i-GCC kunye nezinye izixhobo ukuqokelela kunye nokwakha ikhowudi yomthombo. Ukuba usebenzisa inkqubo ye-Ubuntu ngaphandle kwezixhobo ezifakwe ngasentla, ungenza lo myalelo ulandelayo ukugqiba ukufakela.
| $ sudo apt-fumana ukufaka i-cmmake ebalulekileyo |
Ukuba izixhobo eziboniswe ngasentla sele zikhona kwisistim, yenza oku kulandelayo.
| $ cd ~/ldlidar_ ws/ldlidar_stl_sdk # Ukuba isiqulathi seefayili sokwakha asikho kulawulo lwe ldlidar_st/_sdk, kufuneka senziwe $ mkdir ukwakha $ cd ukwakha $makhe .. / $ yenza |
Qhuba inkqubo yokubini
| $ cd ~/ldlidar_ ws/ldlidar_st/_sdk/build $ ./ldlidar_stl # umzekelo: ./ldlidar_stl /dev/ttyUSBO |
Imiyalelo yokusebenzisa iROS esekwe kwiRaspberry Pi SBC
Nceda bhekisa kwincwadana yemigaqo «LD19 Raspberry Pi Raspbian User manual_ V2.9.pdf)) ngeenkcukacha.
Ukongeza, sinikeze umfanekiso wesiko weRaspberry Pi kule mveliso, kwaye isifundo sayo sokusetyenziswa simi ngolu hlobo lulandelayo:
Intshayelelo yesipili
- Ukuqulunqwa kwesipili:
• inguqulo ye-raspberrypi raspbian OS: 2020-08-20-raspios-buster-armhf
• Inguqulo ye-ROS yokusingqongileyo: i-ROS melodic
• Iphakheji ye-LiDAR LD19 ROS - Inkxaso yehardware:
• raspberrypi 3B+ SBC , raspberrypi 4B SBC
• Ikhadi le-SD elinomthamo omkhulu kuno okanye olingana ne-16GB
Ukusetyenziswa kwesipili
- Khuphela umfanekiso file:
• Khuphela ilinki yoku-1: https://pan.baidu.com/s/lfvTfXBbWC9ESXNNUY5aJhw 1Jt:&:7ky8a
• Khuphela ilinki yoku-2:
https://drive.google.com/file/d/lylMTFGRZ9cRcy3Njvf10cxDo4Wy3tfCB/view?usp=sharing
• Umfanekiso file igama ngu 2022-03-24-raspios-buster-armhf-ldrobot-customization.img.xz - Bhala umfanekiso file kwikhadi le-SD kwaye usebenzise inkqubo:
Bhala ngokusebenzisa isixhobo Win32Disklmager, yifake kwi Raspberry Pi ikhadi slot emva kokubhala ngempumelelo, kunye namandla kwinkqubo- Ulwazi olunxulumene nokungena kwinkqubo
• Igama lomsebenzisi:pi
• Igama lomamkeli:raspberrypi• Kwiwadi yokupasa
pi - Ukuqhuba i-lidar node
- Ulwazi olunxulumene nokungena kwinkqubo
| #stepl: Qinisekisa ukuba isixhobo se-lidar siqhagamshelwe kwi-raspberrypi SBC, kwaye uvule i-terminal nge- indlela emfutshane Ctrl+Alt+T. #step2: Fumana isixhobo sezibuko file ehambelana nesixhobo seradar nge Is-I/dv1i, nika ephunyeziweyoimvume, kwaye ke ulungise i lanuch file iiparamitha. Thatha izibuko file ehambelana nesixhobo se-lidar njenge /dev/ttyUSB0 njenge example. $ sudo chmod 777 /dev/ttyUSB0 # Phawula: Kunconywa ukuhlaziya iphakheji yomqhubi we-Lldar ROS kwisibuko okokuqala $ cd ~ && cd ~/ldlidar_ros_ws/src/ $ rm -rf ldlidar_stl_ros/ $ git clone https://github.com/DFRobotdl/ldlidar_stl_ros.git |
Ekugqibeleni, lungisa ifayile port_name ixabiso kwi-ld19.launch file kwi ~/ldldiar_ros_ws/src/ldlidar_stl_ros/launch/ ulawulo. Thatha i-lidar efakwe kwinkqubo njengoko /dev/ttyUSBO njenge example, njengoko kubonisiwe ngezantsi.
| $ nano ~/ldlidar _ros_ ws/src/ldldiar _stl_ros/launch/ld19.launch |
Qala i-lidar node kwaye wenze lo myalelo ulandelayo.
| $ roslaunch ldlidar_stl_ros ld19.launch |
Qala i-lidar node kwaye ubonise i-lidar point data cloud kwi-Rviz, yenza lo myalelo ulandelayo.
| $ ros/unch ldlidar_st/_ros viewer_ld19_kinetic_me/odic./aunch |
IMBALI YOHLAZIYO
| inguqulelo | umhla wohlaziyo | lungisa i umxholo |
| 1.0 | 2020-09-01 | Indalo yokuqala |
| 1.1 | 2021-01-15 | Susa uGuqulo () umsebenzi |
|
2.0 |
2022-02-27 |
Kongezwe umxholo we-ion yekhithi yophuhliso |
|
2.1 |
2022-03-06 |
Yandisa uyilo lwegrafiki yoxwebhu kwaye uhlaziye ubume bomxholo |
|
2.2 |
2022-03-09 |
Guqula isihloko seqweqwe loxwebhu kunye nenxalenye yomxholo |
| 2.3 | 2022-03-15 | Hlaziya iinkcazo eziyingxaki kumaxwebhu |
| 2.4 | 2022-04-02 |
|
| 2.5 | 2022-06-25 |
|
Amaxwebhu / Izibonelelo
 |
I-DFRobot LiDAR LD19 Laser Sensor Kit [pdf] Incwadi Yomyalelo Ikhithi yeSensor ye-LiDAR LD19, i-LiDAR LD19, iKhiti yoVavanyo lweLaser, iKhiti yoVavanyo lweLaser |
