Livox 3D lidar support #188
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dasimagin
reviewed
Nov 3, 2024
Dockerfile
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| FROM --platform=linux/amd64 ubuntu:20.04 AS truck-base-amd64 | ||
| # Do not use "20.04" tag because it can be re-published and reset docker cache | ||
| FROM --platform=linux/amd64 ubuntu:focal-20240530 AS truck-base-amd64 |
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У меня появились почему-то проблемы на стыке python/ros2, я это связывая с тем, что мы образ обновили. Хочу перепроверить, пересобрав еще раз со старым контейнером...
root@0fb133acef20:/truck/packages# ros2 topic list
/opt/ros/iron/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
Traceback (most recent call last):
File "/opt/ros/iron/bin/ros2", line 11, in <module>
load_entry_point('ros2cli==0.25.7', 'console_scripts', 'ros2')()
File "/opt/ros/iron/lib/python3.8/site-packages/ros2cli/cli.py", line 91, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/iron/lib/python3.8/site-packages/ros2topic/command/topic.py", line 41, in main
return extension.main(args=args)
File "/opt/ros/iron/lib/python3.8/site-packages/ros2topic/verb/list.py", line 55, in main
with NodeStrategy(args) as node:
File "/opt/ros/iron/lib/python3.8/site-packages/ros2cli/node/strategy.py", line 35, in __init__
spawn_daemon(args)
File "/opt/ros/iron/lib/python3.8/site-packages/ros2cli/node/daemon.py", line 148, in spawn_daemon
fdlimit = int(line.removeprefix(string_to_find).strip())
AttributeError: 'str' object has no attribute 'removeprefix'
Contributor
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Судя по всему эта проблема давно с нами, в humble это починили, но мы живем на Iron, а эта версия предполагает начилие Python3.9, где данный метод уже имеется. Возможно, будет проще переехать на новый софт.
dasimagin
reviewed
Nov 3, 2024
docker-compose.yaml
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| truck: | ||
| container_name: "${CONTAINER_NAME:-truck-${USER}}" | ||
| image: "registry.robotics-lab.ru/truck:0.11.1" | ||
| image: "registry.robotics-lab.ru/truck:0.12.0-dev" # FIXME |
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Давайте не забудем убрать...
dasimagin
approved these changes
Nov 3, 2024
Comment on lines
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| # Livox costom pointcloud format. | ||
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| uint32 offset_time # offset time relative to the base time | ||
| float32 x # X axis, unit:m | ||
| float32 y # Y axis, unit:m | ||
| float32 z # Z axis, unit:m | ||
| uint8 reflectivity # reflectivity, 0~255 | ||
| uint8 tag # livox tag | ||
| uint8 line # laser number in lidar |
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Можно будет потом вовсе все это выкинуть, как упростим ноду еще сильнее.
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Сейчас пишется в стандартные sensor_msgs/PointCloud2 вот с такими полями:
float32 x # X axis, unit:m
float32 y # Y axis, unit:m
float32 z # Z axis, unit:m
float32 intensity # the value is reflectivity, 0.0~255.0
uint8 tag # livox tag
uint8 line # laser number in lidar
float64 timestamp # Timestamp of point
Меня напрягает:
- intensity: почему не uint8 а float32
- tag, line - не уверен что вообще нужны
- timestamp - кажется точно не нужен и много места занимает
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apmilko
reviewed
Feb 2, 2025
packages/model/config/model.yaml
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| child_frame_id: "lidar_link" | ||
| translation: { x: 0.0, y: 0.0, z: 0.0 } | ||
| rotation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } | ||
| rotation: { x: 0, y: 0.0, z: 1.0, w: 0.0 } |
apmilko
approved these changes
Feb 2, 2025
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