From ceb97a44f4d0a347f8739f6ae3482b0fb5e1f83f Mon Sep 17 00:00:00 2001 From: Will Son Date: Wed, 15 Jul 2020 14:06:13 +0900 Subject: [PATCH 1/2] catch exception by ref --- src/hlds_laser_publisher.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/hlds_laser_publisher.cpp b/src/hlds_laser_publisher.cpp index 0c83f96..c544c48 100644 --- a/src/hlds_laser_publisher.cpp +++ b/src/hlds_laser_publisher.cpp @@ -172,7 +172,7 @@ 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; From b0e30ebe6ae489d9dfe8726abcfaf59ee5ddde3e Mon Sep 17 00:00:00 2001 From: Will Son Date: Thu, 15 Apr 2021 22:04:00 +0900 Subject: [PATCH 2/2] update for galactic --- .github/workflows/ros-ci.yml | 57 ++++++++++++++++++++++++++++++++ .travis.yml | 29 ---------------- CHANGELOG.rst | 6 ++++ README.md | 17 +++++----- launch/hlds_laser.launch.py | 4 +-- launch/view_hlds_laser.launch.py | 4 +-- package.xml | 2 +- src/hlds_laser_publisher.cpp | 5 +-- 8 files changed, 80 insertions(+), 44 deletions(-) create mode 100644 .github/workflows/ros-ci.yml delete mode 100644 .travis.yml diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml new file mode 100644 index 0000000..bb5ced9 --- /dev/null +++ b/.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/setup-ros@0.1.2 + with: + required-ros-distributions: ${{ matrix.ros_distribution }} + - name: Build and Test + uses: ros-tooling/action-ros-ci@v0.2 + with: + package-name: turtlebot3 + target-ros2-distro: ${{ matrix.ros_distribution }} + vcs-repo-file-url: "" diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 1e5a387..0000000 --- a/.travis.yml +++ /dev/null @@ -1,29 +0,0 @@ -services: - - docker - -language: - - generic - -notifications: - email: - on_success: change - on_failure: always - recipients: - - willson@robotis.com - -branches: - only: - - ros2 - - ros2-devel - - dashing-devel - - eloquent-devel - - foxy-devel - -install: - - git clone --quiet --depth 1 https://github.com/ROBOTIS-GIT/ros2ci.git .ros2ci - -matrix: - include: - - script: .ros2ci/travis.bash dashing - - script: .ros2ci/travis.bash eloquent - - script: .ros2ci/travis.bash nightly diff --git a/CHANGELOG.rst b/CHANGELOG.rst index acb1c74..5f7a1a9 100644 --- a/CHANGELOG.rst +++ b/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 diff --git a/README.md b/README.md index 1b1bb7e..0815865 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,15 @@ # HLDS HLS-LFCD-LDS (LDS-01) -## 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/) diff --git a/launch/hlds_laser.launch.py b/launch/hlds_laser.launch.py index d9f97c7..aa38b93 100644 --- a/launch/hlds_laser.launch.py +++ b/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'), ]) diff --git a/launch/view_hlds_laser.launch.py b/launch/view_hlds_laser.launch.py index 9a49b26..85f14fb 100644 --- a/launch/view_hlds_laser.launch.py +++ b/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'), ]) diff --git a/package.xml b/package.xml index 8ea656f..3f06501 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ hls_lfcd_lds_driver - 2.0.1 + 2.0.2 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. diff --git a/src/hlds_laser_publisher.cpp b/src/hlds_laser_publisher.cpp index c544c48..a5970ff 100644 --- a/src/hlds_laser_publisher.cpp +++ b/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 {