Please... Please help.
I am trying to use rplidar, but I have this error below.........
I checked the tutorial again and again but I really don't know how to fix this..
Please help me.
ubuntu@ubuntu:~/catkin_ws$ cd ~/catkin_ws/src
ubuntu@ubuntu:~/catkin_ws/src$ git clone https://github.com/robopeak/rplidar_ros
fatal: destination path 'rplidar_ros' already exists and is not an empty directory.
ubuntu@ubuntu:~/catkin_ws/src$ ls ~/catkin_ws/src
CMakeLists.txt beginner_tutorials elp_stereo_camera rplidar_ros
ubuntu@ubuntu:~/catkin_ws/src$ ls ~/catkin_ws/src/rplidar_ros
CHANGELOG.rst CMakeLists.txt LICENSE README.md launch package.xml rplidar_A1.png rplidar_A2.png rviz scripts sdk src
ubuntu@ubuntu:~/catkin_ws/src$ cd ~/catkin_ws
ubuntu@ubuntu:~/catkin_ws$ catkin_make rplidarNode
Base path: /home/ubuntu/catkin_ws
Source space: /home/ubuntu/catkin_ws/src
The specified base path "/home/ubuntu/catkin_ws" contains a CMakeLists.txt but "catkin_make" must be invoked in the root of workspace
After I input
ls -al /home/ubuntu/catkin_ws
I got below!
ubuntu@ubuntu:~/catkin_ws$ ls -al /home/ubuntu/catkin_ws
total 24
drwxrwxr-x 5 ubuntu ubuntu 4096 Jan 25 15:04 .
drwxr-xr-x 22 ubuntu ubuntu 4096 Jan 25 23:16 ..
-rw-rw-r-- 1 ubuntu ubuntu 98 Jan 24 13:34 .catkin_workspace
lrwxrwxrwx 1 ubuntu ubuntu 49 Jan 25 15:04 CMakeLists.txt -> /opt/ros/indigo/share/catkin/cmake/toplevel.cmake
drwxrwxr-x 9 ubuntu ubuntu 4096 Jan 24 17:54 build
drwxrwxr-x 4 ubuntu ubuntu 4096 Jan 24 17:54 devel
drwxrwxr-x 5 ubuntu ubuntu 4096 Jan 25 15:39 src
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catkin_make fail : must be invoked in the root of workspace
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Cannot bind to the specified serial port /dev/ttyUSB0.
HELLO.
I am trying to use Rplidar and I am following the step below.
I done below .
$ sudo apt-get install git
$ cd ~/catkin_ws/src
$ git clone https://github.com/robopeak/rplidar_ros
$ cd ~/catkin_ws
$ catkin_make rplidarNode
$ catkin_make rplidarNodeClient
$ sudo nano /etc/udev/rules.d/70-persistent-net.rules
KERNEL=="ttyUSB*", MODE="0666"
From this part, I have several error.
When I input this,
$ roslaunch rplidar_ros rplidar.launch
it shows
[rplidar.launch] is neither a launch file in package [rplidar_ros] nor is [rplidar_ros] a launch file name
The traceback for the exception was written to the log file
However, if I input
ubuntu@ubuntu:~/catkin_ws$ source /home/ubuntu/catkin_ws/devel/setup.bash
ubuntu@ubuntu:~/catkin_ws$ roslaunch rplidar_ros rplidar.launch
... logging to /home/ubuntu/.ros/log/c256ffaa-e311-11e6-b38a-0022cffa2d4b/roslaunch-ubuntu-6458.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:45311/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.20
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
NODES
/
rplidarNode (rplidar_ros/rplidarNode)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[rplidarNode-1]: started with pid [6476]
RPLIDAR running on ROS package rplidar_ros
SDK Version: 1.5.7
RPLIDAR S/N: ADFFFBF8C5E299F0C4E592F75C2A5B3E
Firmware Ver: 1.15
Hardware Rev: 0
RPLidar health status : 0
^C[rplidarNode-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
and I open new terminal
ubuntu@ubuntu:~$ rosrun rplidar_ros rplidarNodeClient
[rospack] Error: package 'rplidar_ros' not found
and I tried
ubuntu@ubuntu:~$ rviz
Segmentation fault (core dumped)
And ubuntu finally showed new windows and it says
"Sorry, the application rviz has stopped unexpectedly.
if you notic further problems, try restarting the computer.
- send an error report to help fix this problem
- ignore future problems of this type "
Finally, I tried this
ubuntu@ubuntu:~/catkin_ws$ roslaunch rplidar_ros rplidar.launch
... logging to /home/ubuntu/.ros/log/687ff54e-e312-11e6-a5f7-0022cffa2d4b/roslaunch-ubuntu-7014.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:54487/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.20
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
NODES
/
rplidarNode (rplidar_ros/rplidarNode)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[rplidarNode-1]: started with pid [7032]
RPLIDAR running on ROS package rplidar_ros
SDK Version: 1.5.7
Error, cannot bind to the specified serial port /dev/ttyUSB0.
[rplidarNode-1] process has died [pid 7032, exit code 255, cmd /home/ubuntu/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/ubuntu/.ros/log/687ff54e-e312-11e6-a5f7-0022cffa2d4b/rplidarNode-1.log].
log file: /home/ubuntu/.ros/log/687ff54e-e312-11e6-a5f7-0022cffa2d4b/rplidarNode-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
↧
↧
[rplidarNode-1] process has died
Hello.. please help..me..
ubuntu@ubuntu:~$ source /home/ubuntu/catkin_ws/devel/setup.bash
ubuntu@ubuntu:~$ roslaunch rplidar_ros view_rplidar.launch
... logging to /home/ubuntu/.ros/log/89ccce0a-e323-11e6-87cc-0022cffa2d4b/roslaunch-ubuntu-4625.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:54659/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.20
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
NODES
/
rplidarNode (rplidar_ros/rplidarNode)
rviz (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[rplidarNode-1]: started with pid [4643]
process[rviz-2]: started with pid [4644]
RPLIDAR running on ROS package rplidar_ros
SDK Version: 1.5.7
Error, cannot bind to the specified serial port /dev/ttyUSB0.
[rplidarNode-1] process has died [pid 4643, exit code 255, cmd /home/ubuntu/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/ubuntu/.ros/log/89ccce0a-e323-11e6-87cc-0022cffa2d4b/rplidarNode-1.log].
log file: /home/ubuntu/.ros/log/89ccce0a-e323-11e6-87cc-0022cffa2d4b/rplidarNode-1*.log
[rviz-2] process has died [pid 4644, exit code -11, cmd /opt/ros/indigo/lib/rviz/rviz -d /home/ubuntu/catkin_ws/src/rplidar_ros/rviz/rplidar.rviz __name:=rviz __log:=/home/ubuntu/.ros/log/89ccce0a-e323-11e6-87cc-0022cffa2d4b/rviz-2.log].
log file: /home/ubuntu/.ros/log/89ccce0a-e323-11e6-87cc-0022cffa2d4b/rviz-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
↧
roslaunch error , rplidar
From this part, I have several error.
When I input this,
$ roslaunch rplidar_ros rplidar.launch
it shows
[rplidar.launch] is neither a launch file in package [rplidar_ros] nor is [rplidar_ros] a launch file name
The traceback for the exception was written to the log file
However, if I input
ubuntu@ubuntu:~/catkin_ws$ source /home/ubuntu/catkin_ws/devel/setup.bash
ubuntu@ubuntu:~/catkin_ws$ roslaunch rplidar_ros rplidar.launch
... logging to /home/ubuntu/.ros/log/687ff54e-e312-11e6-a5f7-0022cffa2d4b/roslaunch-ubuntu-7014.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:54487/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.20
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
NODES
/
rplidarNode (rplidar_ros/rplidarNode)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[rplidarNode-1]: started with pid [7032]
RPLIDAR running on ROS package rplidar_ros
SDK Version: 1.5.7
Error, cannot bind to the specified serial port /dev/ttyUSB0.
[rplidarNode-1] process has died [pid 7032, exit code 255, cmd /home/ubuntu/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/ubuntu/.ros/log/687ff54e-e312-11e6-a5f7-0022cffa2d4b/rplidarNode-1.log].
log file: /home/ubuntu/.ros/log/687ff54e-e312-11e6-a5f7-0022cffa2d4b/rplidarNode-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
↧
Change position for Rplidar A2 on turtlebot2
Hi there
Need some help to change position for the rplidar on Turtlebot. I am using the package from github [rplidar-turtlebot2](https://github.com/roboticslab-fr/rplidar-turtlebot2). Changed the position for laser in `RVIZ`, folder
`URDF` script `rplidar.urdf.xacro` from `
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Navigation map and laser resolution
Hi,
I recently changed my map resolution from 0.05 to 0.025 by resizing the .pgm image. I also edited the .yaml file and the costmap resolutions. However, when I run amcl, the laser scans from my RPLidar still detects and inflate obstacles with a resolution of 0.05 (from what I see on RVIZ). Is there a way to change the resolution so that the laser scans will match the map?
Thanks in advance!
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Frame Transformation using Laser_Geometry package
Hi,
I am just wondering if it is possible to use the `laser_geometry` package for a fixed-tilt RPLidar A2 2D sensor? If I tilt it at a fixed angle (30deg) , is there a way to project that tilted laser scan vertically downwards to the world frame? I am trying to achieve something like this video: https://www.youtube.com/watch?v=jHsdwQbqc8Y . I tried using the `laser_ortho_projector` package but it doesn't seem to work, so I am trying out `laser_geometry` to see if it allows me to do it too. I do not have an imu.
Thanks in advance!
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Limiting LaserScan range for Map Building
Hi all,
I have a turtlebot and RPLidar A2 sensor. I am currently implementing hector slam and I am wondering if it is possible to use the laserScans registered just from the 180degree rotation facing the front of the robot instead of the entire 360deg the RPLidar has to build the map. Is there a way to go about doing that?
Thank you!
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Laser Filter and Hector Mapping Issue
Hi all,
I recently implemented the `angular_bounds_filter` from the `laser_filters` package to hector SLAM for map building. I decided to limit my RPLidar A2 laserscan from 360deg to 180deg. However, by doing so, when I launch Hector mapping, there seems to be a high tendency of drift and multiple warnings of `SearchDir angle change too large`while I see my frame on RVIZ jump around. All this happens while my robot is stationary. Is there a reason why this is happening? This particular filter is also not documented on the `laser_filters` wiki page too .
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How can I configure the frequency and start/stop of RPLidar motor in its ROS package?
I have an **RPLidar A1** and when I plug it in, it just keeps on rotating even when the rplidar node is not running. And, also I don't know its current **frequency** of rotation and I want to configure it, as it can vary from **5 Hz to 10 Hz**, how to do that?
What changes do I have to make in the ***launch file*** of rplidar in order to *start* the motor only when I run the rplidar launch file and *stop* it when the file is closed?
Thanks
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I can't find a differential drive package using rplidar with dc motors and no encoders
I need help to find the appropriate drive controller, so far most seem to implement a pid with the encoders as a feed back mechanism.
Surely someone has already done this.... Looking for a recommendation of how to implement this.
Here are the specifics:
all of the differential drive packages I have found so far seem to require encoders.
My bot has an rplidar on it which is supposed to be able to provide odom via hector slam.(still having issues with this, but will post a separate thread)
I do not have encoders.
The goal is to have the rplidar provide the odom and the send the appropriate commands to the arduino that runs the l298 motor controller, this is a four wheel bot with only two motors, tank steer style.
Hector slam package installed and Moveit planning is in process, but obviously need this to respond to a navigation stack, I believe my arduino **MUST respond to cmd_vel** so that is what I am trying to make happen.
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Fusing Multiple Laser Scans
Hi,
I have a RPLIDAR A2 and an Orbbec Astra. The former is the one I am using for my gmapping at the moment and most of the time it works really well. I was wondering about fusing its (forward scans) with the same range from the Astra. Just to help ensure accuracy from both the sensors....
Is there any point in doing this? And how could I go about it?
Thanks
Mark
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rplidar_ros step by step for get map
Hello,
I have a simple question ... i want to get map from RPLidar laser scan but i get confused in google and for now i don't know how i can implement that
i install ros using below **command**
sudo apt-get install ros-indigo-desktop-full
and then run below command for define ros directory and commands for ubuntu(14.04) and it's ok(before that commands not define in terminal such as roscd,roscore,...)
source /opt/ros/indigo/setup.bash
after this step i clone(donwload) ros_rplidar from this web page [ https://github.com/robopeak/rplidar_ros ] , in this page robopeak prepare a tutorial of **How to build rplidar ros package** but i don't know what is catkin's workspace and why catkin_make don't work for me ? is there any good tutorial about this in step by step because i can't find that.
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Laserscan data does not match the static map
I'm working on an Odroid XU4, have the navigation running and using the RPLIDAR A1 with its rplidar_ros package. I use a static map with the size of 100 x 125 pixel and a resolution of 0.05 meter/pixel.
When I localize my robot in the map the laserscan data does not match the static map, so the points are beyond the walls in the map. Additionally the walls as displayed by the lidar are a little bit curved even though they should be straight. What did I miss?
These are my config files:
costmap_common_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.170, -0.220], [-0.170, 0.220], [0.170, 0.220], [0.170, -0.220]]
inflation_radius: 0.30
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_link: base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
rolling_window: false
map_type: costmap
plugins:
- {name: slam_map, type: "costmap_2d::StaticLayer"}
slam_map:
subscribe_to_updates: true
trinary_costmap: false
local_costmap_params.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
map_type: costmap
plugins:
- {name: laser_scanner, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
laser_scanner:
observation_sources: rplidar
rplidar: {sensor_frame: laser, data_type: LaserScan, topic: scan, expected_update_rate: 1.5, observation_persistence: 0.0, marking: true, clearing: true, inf_is_valid: true}
Map.yaml
image: Map.pgm
resolution: 0.050000
origin: [0.000000, 0.000000, 0.000000]
occupied_thresh: 0.65
free_thresh: 0.196
negate: 0
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How to do SLAM Mapping and Navigation using RPLIDAR A2 and Turtlebot?
I have a Kobuki and installed Turtlebot software on my Turtlebot laptop and set everything up for Turtlebot, and I just got an RPLIDAR A2 yesterday and I couldn't figure out how to get it to work with Turtlebot Gmapping and AMCL, to navigate autonomously. On the remote computer the scan doesn't show up but the Kobuki's odometry shows up. I dont think there were any errors. In the launch file I deleted the line of code that starts the 3d camera, and I start the RPLIDAR node from another command line. But again, nothing! So please help me if you can. Thanks, Ayan.
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How to do amcl only with a rplidar?
Hey guys, I've been trying to use a rplidar A1 to achieve amcl localization.
Here's what I do,
1. rocore
2. roslaunch rplidar_ros rplidar.launch
3. rosrun map_server map_server /home/relaybot/mymap.yaml
4. rosrun tf static_transform_publisher 0 0 0 0 0 0 /base_link /laser 100
5. roslaunch laser_scan_matcher laser_scan.launch
6. rosrun amcl amcl scan:=scan
7. rosrun rviz rviz
**********************************
***laser_scan.launch****
#### publish an example base_link -> laser transform ###########
### this was the error ###
Is there anything wrong with behaviors above? If any, please enlighten me. Thanks a lot!
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I cant control my rplidar(can't stop)
Hello, everyone
I have a question for you.
my environment is Raspberry pi 3, Ubuntu mate 16.04 LTS, rplidar A2.
I just follow rplidar tutorial(http://wiki.ros.org/rplidar)
everything is ok, but when i killed rplidar(press Ctrl+C),
terminal show me : shutting down processing monitor complete
BUT, lidar continues to work(spining), How can i stop rplidar ?
Do i have to do extra work? or something i forgot?
Please answer me how to solve the problem.
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hector mapping before rplidar node?
First of all, thanks for your future answers.
Why if I run the rplidar node before the hector_mapping and hector_geotiff launchers I get the error:
**[ INFO] [1502821857.396404571]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.**
But if I run hector_mapping and hector_geotiff launchers before run the rplidar node everything is fine and I get the map?
This is my hector_mapping.launch:
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I want use 2 rplidars in raspberry pi.
hello, guys.
my setup environment is
- rplidar A2, raspberry pi 3 B, Ubuntu mate 16.04(xenial)
I have done using 1 rplidar in raspberry pi.(refered wiki.rog.org)
But, I want to know how set 2 rplidars in raspberry pi.
How processing set 2 Rplidars?
Please tell how process in my environment.
Thank you for reading
Best regards.
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how to aggregate several PointCloud2 messages into one?
After converting my RPLIDAR's laser messages to PointCloud2 form (using hector_laser_to_pointcloud) I can visualize them in RVIZ and when doing rostopic echo I can see the messages coming through. How can I assemble the scans so I could get a collective cloud as I move my lidar around? I have my transforms set up and everything, thing is I am not sure as to how I can do this. Is there a package to do this?
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