Merge pull request #64 from ROBOTIS-GIT/ros2-devel

Ros2 devel

.github/workflows/ros-ci.yml

@@ -0,0 +1,57 @@
+name: ros2-devel
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+on:
+  push:
+    branches: [ ros2-devel ]
+  pull_request:
+    branches: [ ros2-devel ]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  ros2-devel-ci:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          # - dashing
+          # - foxy
+          # - galactic
+          - rolling
+        include:
+            # Dashing Diademata (May 2019 - May 2021)
+          # - docker_image: ubuntu:bionic
+          #   ros_distribution: dashing
+          #   ros_version: 2
+            # Foxy Fitzroy (June 2020 - May 2023)
+          # - docker_image: ubuntu:focal
+          #   ros_distribution: foxy
+          #   ros_version: 2
+            # Galactic Geochelone (May 2021)
+          # - docker_image: ubuntu:focal
+          #   ros_distribution: galactic
+          #   ros_version: 2
+            # Rolling
+          - docker_image: ubuntu:focal
+            ros_distribution: rolling
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: Setup directories
+        run: mkdir -p ros_ws/src
+      - name: checkout
+        uses: actions/checkout@v2
+        with:
+          path: ros_ws/src
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: Build and Test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: turtlebot3
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""

CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package hls_lfcd_lds_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.2 (2021-04-15)
+------------------
+* fix laserscan bug
+* rename nav2 params
+* Contributors: Will Son
+
 2.0.1 (2020-07-13)
 ------------------
 * ROS 2 Eloquent Elusor supported

README.md

@@ -1,14 +1,15 @@
 # HLDS HLS-LFCD-LDS (LDS-01)
 <img src="http://emanual.robotis.com/assets/images/platform/turtlebot3/appendix_lds/lds.png" width="400">
 
-## ROS 1 Packages for LDS-01 Driver
-|develop|master|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|Noetic + Ubuntu Focal|
-|:---:|:---:|:---:|:---:|:---:|
-|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=develop)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=noetic-devel)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|
-## ROS 2 Packages for LDS-01 Driver
-|ros2-devel|ros2|Dashing + Ubuntu Bionic|Eloquent + Ubuntu Bionic|Foxy + Ubuntu Foxy|
-|:---:|:---:|:---:|:---:|:---:|
-|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=ros2-devel)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=ros2)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=dashing-devel)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=eloquent-devel)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver.svg?branch=foxy-devel)](https://travis-ci.org/ROBOTIS-GIT/hls_lfcd_lds_driver)|
+[![kinetic-devel Status](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/tree/kinetic-devel)
+
+[![melodic-devel Status](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/tree/melodic-devel)
+
+[![noetic-devel Status](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/tree/noetic-devel)
+
+[![dashing-devel Status](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/tree/dashing-devel)
+
+[![foxy-devel Status](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/tree/foxy-devel)
 
 ## ROBOTIS e-Manual for TurtleBot3 and LDS-01
 - [ROBOTIS e-Manual for TurtleBot3 and LDS-01](http://turtlebot3.robotis.com/)

launch/hlds_laser.launch.py

@@ -45,8 +45,8 @@ def generate_launch_description():
 
         Node(
             package='hls_lfcd_lds_driver',
-            node_executable='hlds_laser_publisher',
-            node_name='hlds_laser_publisher',
+            executable='hlds_laser_publisher',
+            name='hlds_laser_publisher',
             parameters=[{'port': port, 'frame_id': frame_id}],
             output='screen'),
     ])

launch/view_hlds_laser.launch.py

@@ -32,8 +32,8 @@ def generate_launch_description():
     return LaunchDescription([
         Node(
             package='rviz2',
-            node_executable='rviz2',
-            node_name='rviz2',
+            executable='rviz2',
+            name='rviz2',
             arguments=['-d', rviz_config_dir],
             output='screen'),
     ])

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>hls_lfcd_lds_driver</name>
-  <version>2.0.1</version>
+  <version>2.0.2</version>
   <description>
     ROS package for LDS(HLS-LFCD2).
     The LDS (Laser Distance Sensor) is a sensor sending the data to Host for the simultaneous localization and mapping (SLAM). Simultaneously the detecting obstacle data can also be sent to Host. HLDS(Hitachi-LG Data Storage) is developing the technology for the moving platform sensor such as Robot Vacuum Cleaners, Home Robot, Robotics Lawn Mower Sensor, etc.

src/hlds_laser_publisher.cpp

@@ -100,7 +100,6 @@ void LFCDLaser::poll(sensor_msgs::msg::LaserScan::SharedPtr scan)
           {
             good_sets++;
             motor_speed += (raw_bytes[i+3] << 8) + raw_bytes[i+2]; //accumulate count for avg. time increment
-            rpms=(raw_bytes[i+3]<<8|raw_bytes[i+2])/10;
 
             for(uint16_t j = i+4; j < i+40; j=j+6)
             {
@@ -121,7 +120,9 @@ void LFCDLaser::poll(sensor_msgs::msg::LaserScan::SharedPtr scan)
           }
         }
 
-        scan->time_increment = motor_speed/good_sets/1e8;
+        rpms=motor_speed / good_sets / 10;
+        scan->time_increment = (float)(1.0 / (rpms*6));
+        scan->scan_time = scan->time_increment * 360;
       }
       else
       {
@@ -172,7 +173,7 @@ int main(int argc, char **argv)
 
     return 0;
   }
-  catch (boost::system::system_error ex)
+  catch (boost::system::system_error& ex)
   {
     //ROS_ERROR("An exception was thrown: %s", ex.what());
     return -1;