ROS2 Rolling下无法使用YDLidar X4的问题求助

一、ROS2启动驱动节点崩溃问题 #

报错信息 #

[INFO] [launch]: All log files can be found below /home/ohmin/.ros/log/2023-02-27-02-37-46-155449-ohmin-13510
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_ros2_driver_node-1]: process started with pid [13511]
[INFO] [static_transform_publisher-2]: process started with pid [13513]
[static_transform_publisher-2] [WARN] [1677433066.231842522] []: Old-style arguments are deprecated; see --help for new-style arguments
[ydlidar_ros2_driver_node-1] [INFO] [1677433066.236957516] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1

[ydlidar_ros2_driver_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::UninitializedStaticallyTypedParameterException'
[ydlidar_ros2_driver_node-1]   what():  Statically typed parameter 'fixed_resolution' must be initialized.
[static_transform_publisher-2] [INFO] [1677433066.238474174] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.020000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[ERROR] [ydlidar_ros2_driver_node-1]: process has died [pid 13511, exit code -6, cmd '/home/ohmin/ydlidar_ros2_ws/install/ydlidar_ros2_driver/lib/ydlidar_ros2_driver/ydlidar_ros2_driver_node --ros-args -r __node:=ydlidar_ros2_driver_node --params-file /home/ohmin/ydlidar_ros2_ws/install/ydlidar_ros2_driver/share/ydlidar_ros2_driver/params/ydlidar.yaml']. 

解决方法 #

1. 修正参数名错误
   报错明确指出fixed_resolution参数未初始化，但你的ydlidar.yaml里写的是resolution_fixed: true，参数名拼写颠倒了。修改yaml文件，将resolution_fixed改为fixed_resolution：

   ydlidar_ros2_driver_node:
     ros__parameters:
       port: /dev/ttyUSB0
       frame_id: laser_frame
       ignore_array: ""
       baudrate: 128000
       lidar_type: 1
       device_type: 0
       sample_rate: 5
       abnormal_check_count: 4
       fixed_resolution: true  # 原参数名resolution_fixed改为fixed_resolution
       reversion: true
       inverted: true
       auto_reconnect: true
       isSingleChannel: false
       intensity: false
       support_motor_dtr: false
       angle_max: 180.0
       angle_min: -180.0
       range_max: 10
       range_min: 0.12
       frequency: 10.0
       invalid_range_is_inf: false
   

   修改后重新编译并安装包：

   cd ~/ydlidar_ros2_ws
   colcon build --packages-select ydlidar_ros2_driver
   source install/setup.bash
   

2. 消除static_transform_publisher警告（可选）
   警告提示旧版参数格式已废弃，可将launch文件中的static_transform_publisher参数改为新版格式：
   将原来的arguments列表替换为：

   arguments=['--x', '0', '--y', '0', '--z', '0.02', '--qx', '0', '--qy', '0', '--qz', '0', '--qw', '1', '--frame-id', 'base_link', '--child-frame-id', 'laser_frame']
   

二、YDLidar-SDK tri_test报错"Device Tremble"问题 #

报错信息 #

0. ydlidar
1. ydlidar3
Please select the lidar port:1
Baudrate:
0. 115200
1. 128000
2. 150000
3. 153600
4. 230400
5. 460800
6. 512000
Please select the lidar baudrate:1
Whether the Lidar is one-way communication[yes/no]:yes
[YDLIDAR] SDK initializing
[YDLIDAR] SDK has been initialized
[YDLIDAR] SDK Version: 1.1.4
[YDLIDAR] Lidar successfully connected
[YDLIDAR] Lidar running correctly! The health status: good
[YDLIDAR] Lidar init success, Elapsed time 624 ms
[YDLIDAR] Start to getting intensity flag
[YDLIDAR] Auto set intensity 0
[YDLIDAR] End to getting intensity flag
[YDLIDAR] Create thread 0x265FF640
[YDLIDAR] Successed to start scan mode, Elapsed time 1174 ms
timeout count: 1
timeout count: 2
timeout count: 1
0x265FF640 thread has been canceled
[YDLIDAR] Failed to turn on the Lidar, because the lidar is [Device Tremble].
Fail to start Unknown error

解决方法 #

由于plot_tof_test.py运行正常，说明雷达机械结构无故障，问题出在测试程序配置或硬件连接上：

1. 统一单通道配置
   你在tri_test中选择了单通道通信（yes），但yaml里isSingleChannel: false，两者不一致。将yaml中的isSingleChannel改为true，或者在tri_test中选择no（如果雷达是双通道）。

2. 检查串口权限
   尝试用sudo运行tri_test，避免串口权限不足：

   sudo ./tri_test
   

   也可以添加udev规则永久解决权限问题：
   创建文件/etc/udev/rules.d/ydlidar.rules，写入：

   SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout"
   

   然后重启udev服务：

   sudo udevadm control --reload-rules && sudo udevadm trigger
   

3. 排查供电问题
   YDLidar X4需要稳定的5V/1A供电，USB供电不足可能导致电机抖动检测误判。尝试使用带外接电源的USB hub，或直接连接到电脑主板的USB端口（避免使用前置USB）。

4. 调整异常检测阈值
   在yaml中调大abnormal_check_count参数（比如改为8），降低异常检测的敏感度：

   abnormal_check_count: 8
   

内容的提问来源于stack exchange，提问作者the DEV