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Compatibility with Ros2 Jazzy #47

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14 changes: 7 additions & 7 deletions launch/ydlidar_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.


from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
Expand All @@ -28,24 +29,23 @@
def generate_launch_description():
share_dir = get_package_share_directory('ydlidar_ros2_driver')
parameter_file = LaunchConfiguration('params_file')
node_name = 'ydlidar_ros2_driver_node'

params_declare = DeclareLaunchArgument('params_file',
default_value=os.path.join(
share_dir, 'params', 'ydlidar.yaml'),
description='FPath to the ROS2 parameters file to use.')
description='Path to the ROS2 parameters file to use.')

driver_node = LifecycleNode(package='ydlidar_ros2_driver',
node_executable='ydlidar_ros2_driver_node',
node_name='ydlidar_ros2_driver_node',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
node_namespace='/',
namespace='/',
)
tf2_node = Node(package='tf2_ros',
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
executable='static_transform_publisher',
name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
)

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14 changes: 7 additions & 7 deletions launch/ydlidar_launch_view.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,21 +37,21 @@ def generate_launch_description():
description='FPath to the ROS2 parameters file to use.')

driver_node = LifecycleNode(package='ydlidar_ros2_driver',
node_executable='ydlidar_ros2_driver_node',
node_name='ydlidar_ros2_driver_node',
executable='ydlidar_ros2_driver_node',
name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
node_namespace='/',
namespace='/',
)
tf2_node = Node(package='tf2_ros',
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
executable='static_transform_publisher',
name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
)
rviz2_node = Node(package='rviz2',
node_executable='rviz2',
node_name='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_file],
)

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44 changes: 22 additions & 22 deletions src/ydlidar_ros2_driver_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,117 +41,117 @@ int main(int argc, char *argv[]) {

CYdLidar laser;
std::string str_optvalue = "/dev/ydlidar";
node->declare_parameter("port");
node->declare_parameter("port", str_optvalue);
node->get_parameter("port", str_optvalue);
///lidar port
laser.setlidaropt(LidarPropSerialPort, str_optvalue.c_str(), str_optvalue.size());

///ignore array
str_optvalue = "";
node->declare_parameter("ignore_array");
node->declare_parameter("ignore_array", str_optvalue);
node->get_parameter("ignore_array", str_optvalue);
laser.setlidaropt(LidarPropIgnoreArray, str_optvalue.c_str(), str_optvalue.size());

std::string frame_id = "laser_frame";
node->declare_parameter("frame_id");
node->declare_parameter("frame_id", frame_id);
node->get_parameter("frame_id", frame_id);

//////////////////////int property/////////////////
/// lidar baudrate
int optval = 230400;
node->declare_parameter("baudrate");
node->declare_parameter("baudrate", optval);
node->get_parameter("baudrate", optval);
laser.setlidaropt(LidarPropSerialBaudrate, &optval, sizeof(int));
/// tof lidar
optval = TYPE_TRIANGLE;
node->declare_parameter("lidar_type");
node->declare_parameter("lidar_type", optval);
node->get_parameter("lidar_type", optval);
laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
/// device type
optval = YDLIDAR_TYPE_SERIAL;
node->declare_parameter("device_type");
node->declare_parameter("device_type", optval);
node->get_parameter("device_type", optval);
laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
/// sample rate
optval = 9;
node->declare_parameter("sample_rate");
node->declare_parameter("sample_rate", optval);
node->get_parameter("sample_rate", optval);
laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));
/// abnormal count
optval = 4;
node->declare_parameter("abnormal_check_count");
node->declare_parameter("abnormal_check_count", optval);
node->get_parameter("abnormal_check_count", optval);
laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int));

/// Intenstiy bit count
optval = 8;
node->declare_parameter("intensity_bit");
node->declare_parameter("intensity_bit", optval);
node->get_parameter("intensity_bit", optval);
laser.setlidaropt(LidarPropIntenstiyBit, &optval, sizeof(int));

//////////////////////bool property/////////////////
/// fixed angle resolution
bool b_optvalue = false;
node->declare_parameter("fixed_resolution");
node->declare_parameter("fixed_resolution", b_optvalue);
node->get_parameter("fixed_resolution", b_optvalue);
laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));
/// rotate 180
b_optvalue = true;
node->declare_parameter("reversion");
node->declare_parameter("reversion", b_optvalue);
node->get_parameter("reversion", b_optvalue);
laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));
/// Counterclockwise
b_optvalue = true;
node->declare_parameter("inverted");
node->declare_parameter("inverted", b_optvalue);
node->get_parameter("inverted", b_optvalue);
laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));
b_optvalue = true;
node->declare_parameter("auto_reconnect");
node->declare_parameter("auto_reconnect", b_optvalue);
node->get_parameter("auto_reconnect", b_optvalue);
laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));
/// one-way communication
b_optvalue = false;
node->declare_parameter("isSingleChannel");
node->declare_parameter("isSingleChannel", b_optvalue);
node->get_parameter("isSingleChannel", b_optvalue);
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
node->declare_parameter("intensity");
node->declare_parameter("intensity", b_optvalue);
node->get_parameter("intensity", b_optvalue);
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
node->declare_parameter("support_motor_dtr");
node->declare_parameter("support_motor_dtr", b_optvalue);
node->get_parameter("support_motor_dtr", b_optvalue);
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));

//////////////////////float property/////////////////
/// unit: °
float f_optvalue = 180.0f;
node->declare_parameter("angle_max");
node->declare_parameter("angle_max", f_optvalue);
node->get_parameter("angle_max", f_optvalue);
laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float));
f_optvalue = -180.0f;
node->declare_parameter("angle_min");
node->declare_parameter("angle_min", f_optvalue);
node->get_parameter("angle_min", f_optvalue);
laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float));
/// unit: m
f_optvalue = 64.f;
node->declare_parameter("range_max");
node->declare_parameter("range_max", f_optvalue);
node->get_parameter("range_max", f_optvalue);
laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));
f_optvalue = 0.1f;
node->declare_parameter("range_min");
node->declare_parameter("range_min", f_optvalue);
node->get_parameter("range_min", f_optvalue);
laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));
/// unit: Hz
f_optvalue = 10.f;
node->declare_parameter("frequency");
node->declare_parameter("frequency", f_optvalue);
node->get_parameter("frequency", f_optvalue);
laser.setlidaropt(LidarPropScanFrequency, &f_optvalue, sizeof(float));

bool invalid_range_is_inf = false;
node->declare_parameter("invalid_range_is_inf");
node->declare_parameter("invalid_range_is_inf", invalid_range_is_inf);
node->get_parameter("invalid_range_is_inf", invalid_range_is_inf);


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