bluesealidar / bluesea-ros2 Goto Github PK

这个怎么根之前差距这么大,这是ros2的？

colcon build 之后一大批错误:

/home/ben/ros2_ws/src/bluesea-ros2/src/bluesea_node.cpp:989:73: error: invalid conversion from ‘int’ to ‘int*’ [-fpermissive]
989 | g_reader = StartUartReader(g_type.c_str(),port.c_str(), baud_rate, rates, parsers[0], hubs[0],Savelog,logPath.c_str());
| ^~~~~~~~~
| |
| int

/home/ben/ros2_ws/src/bluesea-ros2/src/bluesea_node.cpp:989:43: error: too many arguments to function ‘void* StartUartReader(const char*, int, int*, HParser, HPublish)’
989 | g_reader = StartUartReader(g_type.c_str(),port.c_str(), baud_rate, rates, parsers[0], hubs[0],Savelog,logPath.c_str());
| ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/ben/ros2_ws/src/bluesea-ros2/src/bluesea_node.cpp:17:
/home/ben/ros2_ws/src/bluesea-ros2/include/reader.h:20:9: note: declared here
20 | HReader StartUartReader(const char* port, int baudrate, int* rate_list, HParser, HPublish);
| ^~~~~~~~~~~~~~~
/home/ben/ros2_ws/src/bluesea-ros2/src/bluesea_node.cpp:1001:42: error: no matching function for call to ‘StartUDPReader(const char*, int&, bool&, const char*, int&, LidarInfo [8], bool&, const char*)’
1001 | g_reader = StartUDPReader(g_type.c_str(),local_port, is_group_listener, group_ip.c_str(), lidar_count, lidars,Savelog,logPath.c_str());
| ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/ben/ros2_ws/src/bluesea-ros2/src/bluesea_node.cpp:17:
/home/ben/ros2_ws/src/bluesea-ros2/include/reader.h:24:9: note: candidate: ‘void* StartUDPReader(const char*, short unsigned int, short unsigned int, bool, const char*, HParser, HPublish)’
24 | HReader StartUDPReader(const char* lidar_ip, unsigned short lidar_port, unsigned short listen_port,
| ^~~~~~~~~~~~~~
/home/ben/ros2_ws/src/bluesea-ros2/include/reader.h:24:9: note: candidate expects 7 arguments, 8 provided
/home/ben/ros2_ws/src/bluesea-ros2/include/reader.h:28:9: note: candidate: ‘void* StartUDPReader(short unsigned int, bool, const char*, int, const LidarInfo*)’
28 | HReader StartUDPReader( unsigned short listen_port, bool is_group_listener, const char* group_ip,
| ^~~~~~~~~~~~~~
/home/ben/ros2_ws/src/bluesea-ros2/include/reader.h:28:9: note: candidate expects 5 arguments, 8 provided
gmake[2]: *** [CMakeFiles/bluesea_node.dir/build.make:76: CMakeFiles/bluesea_node.dir/src/bluesea_node.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/bluesea_node.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2

Failed <<< bluesea2 [12.8s, exited with code 2]

此应用launch文件是用python写的，文件命名格式用*.launch.py或*_launch.py是不是比*.launch更好点？

I have finished the colcon build of bluesea2, but when I try to launch it, the error happened.
All the operation was SSH to my raspberry Pi CM4, and LSS-40S-B20E44 Lidar was connect to ttyACM0 use raspberry pi's GPIO as UART.

pi@raspberrypi:~/ros2_serial_ws $ ros2 launch bluesea2 LSS-40S-B20E44.launch
[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2022-11-10-07-58-34-681500-raspberrypi-2741
[INFO] [launch]: Default logging verbosity is set to INFO
Current ROS2 Version: foxy
[INFO] [bluesea_node-1]: process started with pid [2754]
[bluesea_node-1] we will connect to 1 lidars
[bluesea_node-1] lidar[0] address 192.168.0.98:6543, topic `scan
[bluesea_node-1] [0] => 53
[bluesea_node-1] [1] => 48
[bluesea_node-1] [2] => 48
[bluesea_node-1] [3] => 48
[bluesea_node-1] [4] => 48
[bluesea_node-1] [5] => 48
[bluesea_node-1] [6] => 44
[bluesea_node-1] [7] => 32
[bluesea_node-1] [8] => 55
[bluesea_node-1] [9] => 54
[bluesea_node-1] [10] => 56
[bluesea_node-1] [11] => 48
[bluesea_node-1] [12] => 48
[bluesea_node-1] [13] => 48
[bluesea_node-1] [14] => 44
[bluesea_node-1] [15] => 32
[bluesea_node-1] [16] => 57
[bluesea_node-1] [17] => 50
[bluesea_node-1] [18] => 49
[bluesea_node-1] [19] => 54
[bluesea_node-1] [20] => 48
[bluesea_node-1] [21] => 48
[bluesea_node-1] reported 500000
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5524 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5866 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5994 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 6122 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5812 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5939 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 6197 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5684 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found PRODUCT SN:
[bluesea_node-1] send command : 'LUUIDH'
[bluesea_node-1] read 5940 bytes, not found VENDOR ID:
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 6122 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5684 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 6122 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LFFF1H'
[bluesea_node-1] read 5866 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5812 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5684 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSSS1H'
[bluesea_node-1] read 5940 bytes, not found LiDAR
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5940 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5940 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 6122 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5738 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5866 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5812 bytes, not found RPM
[bluesea_node-1] send command : 'LSRPM:600H'
[bluesea_node-1] read 5684 bytes, not found RPM
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 6122 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5812 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5812 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5684 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5940 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 6122 bytes, not found set resolution
[bluesea_node-1] send command : 'LSRES:001H'
[bluesea_node-1] read 5812 bytes, not found set resolution
[bluesea_node-1] send command : 'LSPST:1H'
[ERROR] [bluesea_node-1]: process has died [pid 2754, exit code -11, cmd '/home/pi/ros2_serial_ws/install/bluesea2/lib/bluesea2/bluesea_node --ros-args -r __node:=bluesea_node -r __ns:=/ --params-file /home/pi/ros2_serial_ws/install/bluesea2/share/bluesea2/params/LSS-40S-B20E44.yaml'].