Scanse Sweep compatibility

[linorobot]

Scanse Sweep compatibility

[grassjelly]

Hi,
Can you share your edited launch file please?

Meanwhile, try doing the following:

1. Drag your sweep launch file here:https://github.com/linorobot/linorobot/tree/master/launch/include/lidar

2. Define your LIDAR's transform here: https://github.com/linorobot/linorobot/tree/master/launch/include/lidar

3. Run:
   export LINOLIDAR=<name of your launchfile>

Once this is done, you can run Linorobot as per normal.

[valentinpatrascu]

Hi,

Sorry for late response. I configured the environment as you said but the error still occurs.
These are the launch files.

../linorobot/launch/include/laser.launch

<launch>
    <!-- Run Linorobot compatible laser drivers. Takes reference from env var LINOLIDAR. ie. export LINOLIDAR=xv11 -->
    <include file="$(find linorobot)/launch/include/lidar/sweep.launch" />
    <!-- Publish static transform of the laser. Define your sensor offset here -->
    <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0.065 0 0.098 0 0 0  /base_link /laser"/>
</launch>

../linorobot/launch/include/lidar/sweep.launch (here I added the conversion between pc2 and laserscan)

<launch>
    <!-- run sweep_node node -->
    <node name="sweep_node"          pkg="sweep_ros"  type="sweep_node" output="screen">
            <param name="serial_port"         type="string" value="/dev/linolidar"/>
            <param name="serial_baudrate"     type="int"    value="115200"/>
            <param name="frame_id"            type="string" value="laser"/>
    </node>

    <!-- run pointcloud_to_laserscan node -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

        <remap from="cloud_in" to="pc2"/>
        <rosparam>
            target_frame: laser # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.001
            min_height: -1.0
            max_height: 1.0

            angle_min: -3.14 # -M_PI/2
            angle_max: 3.14 # M_PI/2
            angle_increment: 0.0174533 # M_PI/360.0
            scan_time: 0.1
            range_min: 0.0
            range_max: 40.0
            use_inf: true

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>
    </node>
</launch>

[grassjelly]

Your launch files looks good. Just omit the pointcloud_to_laserscan.

Also make sure that sweep publishes that data in "laser" frame. Otherwise, you have to rename "laser" in static_transform_publisher to the correct frame the LIDAR is using.

[valentinpatrascu]

The problem was not the lidar itself, it worked well, but the udev rules that i've manually created. I observed that each time when I plugged in a new lino device (LiDAR / Arduino Mega) each device was bound on the same ttyUSB* port.

So, I followed the #31 (comment) instructions to configure the libgudev on my ubuntu 18.04, and after the port configurations provided by the lino_udev script, I still had to manually configure the port for Arduino Mega.

But it works now, thank you!