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请问如何配置两台Livox_HAP雷达,并在Ubuntu中显示不同的话题? #140
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我看官网上面又一个参数 lidar_ipaddr,代表自动扫描并连接同一网络中的所有雷达。不知道这个对我上面出现的问题有没有帮助(雷达不在身边,很难进行实际的测试) |
@leslie-fig
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谢谢您,现在已经解决了
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发送时间: 2024年9月11日(周三) 晚上6:10
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主题: Re: [Livox-SDK/livox_ros_driver2] 请问如何配置两台Livox_HAP雷达,并在Ubuntu中显示不同的话题? (Issue #140)
以下是一个node连接两个MID360(在同一个网段)的配置文件,可以参考着修改您的配置文件,主要是host_net_info的差异。另外还需要将launch文件的multi_topic修改为1:
launch:
<arg name="multi_topic" default="1"/>
config:
"lidar_summary_info" : { "lidar_type": 8 # protocol type index,please don't revise this value }, "MID360": { "lidar_net_info": { "cmd_data_port": 56100, # command port "push_msg_port": 56200, "point_data_port": 56300, "imu_data_port": 56400, "log_data_port": 56500 }, "host_net_info": [ { "lidar_ip": ["192.168.1.107","192.168.1.148"], # Lidar ip "host_ip": "192.168.1.5", # host ip "cmd_data_port": 56101, "push_msg_port": 56201, "point_data_port": 56301, "imu_data_port": 56401, "log_data_port": 56501 } ] }, "lidar_configs": [ { "ip": "192.168.1.107", # ip of the LiDAR you want to config "pcl_data_type": 1, "pattern_mode": 0, "extrinsic_parameter": { "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "x": 0, "y": 0, "z": 0 } }, { "ip": "192.168.1.148", # ip of the LiDAR you want to config "pcl_data_type": 1, "pattern_mode": 0, "extrinsic_parameter": { "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "x": 0, "y": 0, "z": 0 } } ] }```
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我在配置两台HAP类型的激光雷达的时候,通过在HAP_config.json中加入两个雷达的ip后,再启动rviz_HAP.launch文件。可以ping通两个雷达,但是rqt_graph里面却只有一个雷达发布话题(另外一个雷达节点存在,没有发布话题),如下图所示。
![6bbb32d157d8ab81b0668a364157583](https://private-user-images.githubusercontent.com/76049017/356861328-2e31d9ec-8817-4c71-9fdf-562c0718b5f2.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjYwNzQ3MjksIm5iZiI6MTcyNjA3NDQyOSwicGF0aCI6Ii83NjA0OTAxNy8zNTY4NjEzMjgtMmUzMWQ5ZWMtODgxNy00YzcxLTlmZGYtNTYyYzA3MThiNWYyLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MTElMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTExVDE3MDcwOVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTNjZTEzMzUwODNmYjg4N2IxYTQyZTBmMWQyMzhkNGMyOWE0YjhiOWVlNTQ2YmFiYzcyZWU3MDRjNWZkYjQyYzUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.S8h5kTCoyhPq3V-hNPA9j5RfbR7gGr1ipTT1ROukL8M)
![dac7889479d4be224a27a6be3874696](https://private-user-images.githubusercontent.com/76049017/356861415-4972ac06-ad7b-4ff5-9c23-edc17fa3bc19.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjYwNzQ3MjksIm5iZiI6MTcyNjA3NDQyOSwicGF0aCI6Ii83NjA0OTAxNy8zNTY4NjE0MTUtNDk3MmFjMDYtYWQ3Yi00ZmY1LTljMjMtZWRjMTdmYTNiYzE5LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MTElMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTExVDE3MDcwOVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTIzOTAwYmVlNDY4MWM2ZDliODQxY2I0MDEwNWNhM2U2NDc1YTIxZTFkZmNmNGRjZjNkYzkxYjhmM2Q0NmZkYmEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.ncRvW90dfg9RajgCGoZyi8SggfOrNpEeqCHZOcISAGc)
配置文件如下图所示。
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