在ros中使用rplidar Laser发布scan数据--25

原创博客:转载请表明出处:http://www.cnblogs.com/zxouxuewei/

由于市面上买的激光雷达价格太贵了。所以在学习时会造成很大的经济压力。但是最近好多做机器人核心组件的公司都开发有廉价的雷达；

本博客教你如何 使用rplidar发布scan数据，在rviz视图中查看scan数据。

1.首先确保你的rplidar水平放置在你的机器人上：(注意安装方向)

2.然后下载rplidar的rosSDK开发包，

3.初步测试：

运行roscore

roscore ＆

直接运行rplidar的launch文件

roslaunch rplidar_ros view_rplidar.launch 

查看view_rplidar.launch文件

<!--
  Used for visualising rplidar in action.  

  It requires rplidar.launch.
 -->
<launch>
  <include file="$(find rplidar_ros)/launch/rplidar.launch" />

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
</launch>

主要是查看rplidar.launch文件

<launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
  <param name="serial_baudrate"     type="int"    value=""/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>
</launch>

在这个launch文件中打开了rplidarNode这个节点，然后我们分析一下节点源码：

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#include "std_srvs/Empty.h"

#include "rplidar.h" //RPLIDAR standard sdk, all-in-one header

#ifndef _countof
#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
#endif

#define DEG2RAD(x) ((x)*M_PI/180.)

using namespace rp::standalone::rplidar;

RPlidarDriver * drv = NULL;

void publish_scan(ros::Publisher *pub,
                  rplidar_response_measurement_node_t *nodes,
                  size_t node_count, ros::Time start,
                  double scan_time, bool inverted,
                  float angle_min, float angle_max,
                  std::string frame_id)
{
    static int scan_count = ;
    sensor_msgs::LaserScan scan_msg;

    scan_msg.header.stamp = start;
    scan_msg.header.frame_id = frame_id;
    scan_count++;

    scan_msg.angle_min =  M_PI - angle_min;
    scan_msg.angle_max =  M_PI - angle_max;
    scan_msg.angle_increment =
        (scan_msg.angle_max - scan_msg.angle_min) / (double)(node_count-);

    scan_msg.scan_time = scan_time;
    scan_msg.time_increment = scan_time / (double)(node_count-);

    scan_msg.range_min = 0.15;
    scan_msg.range_max = .;

    scan_msg.intensities.resize(node_count);
    scan_msg.ranges.resize(node_count);
    if (!inverted) { // assumes scan window at the top
        for (size_t i = ; i < node_count; i++) {
            float read_value = (float) nodes[i].distance_q2/4.0f/;
            if (read_value == 0.0)
                scan_msg.ranges[i] = std::numeric_limits<float>::infinity();
            else
                scan_msg.ranges[i] = read_value;
            scan_msg.intensities[i] = (float) (nodes[i].sync_quality >> );
        }
    } else {
        for (size_t i = ; i < node_count; i++) {
            float read_value = (float)nodes[i].distance_q2/4.0f/;
            if (read_value == 0.0)
                scan_msg.ranges[node_count--i] = std::numeric_limits<float>::infinity();
            else
                scan_msg.ranges[node_count--i] = read_value;
            scan_msg.intensities[node_count--i] = (float) (nodes[i].sync_quality >> );
        }
    }

    pub->publish(scan_msg);
}

bool checkRPLIDARHealth(RPlidarDriver * drv)
{
    u_result     op_result;
    rplidar_response_device_health_t healthinfo;

    op_result = drv->getHealth(healthinfo);
    if (IS_OK(op_result)) {
        printf("RPLidar health status : %d\n", healthinfo.status);

        if (healthinfo.status == RPLIDAR_STATUS_ERROR) {
            fprintf(stderr, "Error, rplidar internal error detected."
                            "Please reboot the device to retry.\n");
            return false;
        } else {
            return true;
        }

    } else {
        fprintf(stderr, "Error, cannot retrieve rplidar health code: %x\n",
                        op_result);
        return false;
    }
}

bool stop_motor(std_srvs::Empty::Request &req,
                std_srvs::Empty::Response &res)
{
  if(!drv)
    return false;

  ROS_DEBUG("Stop motor");
  drv->stop();
  drv->stopMotor();
  return true;
}

bool start_motor(std_srvs::Empty::Request &req,
                std_srvs::Empty::Response &res)
{
  if(!drv)
    return false;
  ROS_DEBUG("Start motor");
  drv->startMotor();
  drv->startScan();;
  return true;
}

int main(int argc, char * argv[]) {
    ros::init(argc, argv, "rplidar_node");

    std::string serial_port;
    int serial_baudrate = ;
    std::string frame_id;
    bool inverted = false;
    bool angle_compensate = true;

    ros::NodeHandle nh;
    ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("scan", );
    ros::NodeHandle nh_private("~");
    nh_private.param<std::string>("serial_port", serial_port, "/dev/ttyUSB0");
    nh_private.param<int>("serial_baudrate", serial_baudrate, );
    nh_private.param<std::string>("frame_id", frame_id, "laser_frame");
    nh_private.param<bool>("inverted", inverted, "false");
    nh_private.param<bool>("angle_compensate", angle_compensate, "true");

    u_result     op_result;

    // create the driver instance
    drv = RPlidarDriver::CreateDriver(RPlidarDriver::DRIVER_TYPE_SERIALPORT);

    if (!drv) {
        fprintf(stderr, "Create Driver fail, exit\n");
        return -;
    }

    // make connection...
    if (IS_FAIL(drv->connect(serial_port.c_str(), (_u32)serial_baudrate))) {
        fprintf(stderr, "Error, cannot bind to the specified serial port %s.\n"
            , serial_port.c_str());
        RPlidarDriver::DisposeDriver(drv);
        return -;
    }

    // check health...
    if (!checkRPLIDARHealth(drv)) {
        RPlidarDriver::DisposeDriver(drv);
        return -;
    }

    ros::ServiceServer stop_motor_service = nh.advertiseService("stop_motor", stop_motor);
    ros::ServiceServer start_motor_service = nh.advertiseService("start_motor", start_motor);

    // start scan...
    drv->startScan();

    ros::Time start_scan_time;
    ros::Time end_scan_time;
    double scan_duration;
    while (ros::ok()) {

        rplidar_response_measurement_node_t nodes[*];
        size_t   count = _countof(nodes);

        start_scan_time = ros::Time::now();
        op_result = drv->grabScanData(nodes, count);
        end_scan_time = ros::Time::now();
        scan_duration = (end_scan_time - start_scan_time).toSec() * 1e-;

        if (op_result == RESULT_OK) {
            op_result = drv->ascendScanData(nodes, count);

            float angle_min = DEG2RAD(0.0f);
            float angle_max = DEG2RAD(359.0f);
            if (op_result == RESULT_OK) {
                if (angle_compensate) {
                    const int angle_compensate_nodes_count = ;
                    const int angle_compensate_multiple = ;
                    int angle_compensate_offset = ;
                    rplidar_response_measurement_node_t angle_compensate_nodes[angle_compensate_nodes_count];
                    memset(angle_compensate_nodes, , angle_compensate_nodes_count*sizeof(rplidar_response_measurement_node_t));
                    int i = , j = ;
                    for( ; i < count; i++ ) {
                        if (nodes[i].distance_q2 != ) {
                            float angle = (float)((nodes[i].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
                            int angle_value = (int)(angle * angle_compensate_multiple);
                            if ((angle_value - angle_compensate_offset) < ) angle_compensate_offset = angle_value;
                            for (j = ; j < angle_compensate_multiple; j++) {
                                angle_compensate_nodes[angle_value-angle_compensate_offset+j] = nodes[i];
                            }
                        }
                    }

                    publish_scan(&scan_pub, angle_compensate_nodes, angle_compensate_nodes_count,
                             start_scan_time, scan_duration, inverted,
                             angle_min, angle_max,
                             frame_id);
                } else {
                    int start_node = , end_node = ;
                    int i = ;
                    // find the first valid node and last valid node
                    while (nodes[i++].distance_q2 == );
                    start_node = i-;
                    i = count -;
                    while (nodes[i--].distance_q2 == );
                    end_node = i+;

                    angle_min = DEG2RAD((float)(nodes[start_node].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
                    angle_max = DEG2RAD((float)(nodes[end_node].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);

                    publish_scan(&scan_pub, &nodes[start_node], end_node-start_node +,
                             start_scan_time, scan_duration, inverted,
                             angle_min, angle_max,
                             frame_id);
               }
            } else if (op_result == RESULT_OPERATION_FAIL) {
                // All the data is invalid, just publish them
                float angle_min = DEG2RAD(0.0f);
                float angle_max = DEG2RAD(359.0f);

                publish_scan(&scan_pub, nodes, count,
                             start_scan_time, scan_duration, inverted,
                             angle_min, angle_max,
                             frame_id);
            }
        }

        ros::spinOnce();
    }

    // done!
    RPlidarDriver::DisposeDriver(drv);
    return ;
}

主要是打开串口读取rplidar的数据，然后发布scan话题。

查看rqt_graph节点视图。