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Ensure constant beam count for ROS2 SLAM Toolkit and Nav2 to work #3

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Ensure constant beam count for ROS2 SLAM Toolkit and Nav2 to work #3

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d7c3fd8
Update log_module.cpp
slgrobotics Oct 4, 2024
f2e785f
Update demo.cpp
slgrobotics Oct 4, 2024
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5 changes: 4 additions & 1 deletion ldlidar_driver/src/log_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,9 @@
#include <stdlib.h>
#endif

// Ubuntu 24.04 won't compile without this include:
#include <pthread.h>

//使用vswprintf会出现奔溃的情况如果，传入数据大于 VA_PARAMETER_MAX 就会出现崩溃
#define VA_PARAMETER_MAX (1024 * 2)

Expand Down Expand Up @@ -281,4 +284,4 @@ void LogPrint::LogPrintInf(const char* str) {
#endif
}

/********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF FILE ********/
/********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF FILE ********/
25 changes: 23 additions & 2 deletions src/demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,10 @@ int main(int argc, char **argv) {
int serial_baudrate = 0;
ldlidar::LDType lidartypename = ldlidar::LDType::NO_VER;

// Added to measure average beam count (points per revolution) at start:
int beam_count = 0;
int beam_count_i = 0;

// declare ros2 param
node->declare_parameter<std::string>("product_name", product_name);
node->declare_parameter<std::string>("laser_scan_topic_name", laser_scan_topic_name);
Expand Down Expand Up @@ -137,8 +141,25 @@ int main(int argc, char **argv) {
case ldlidar::LidarStatus::NORMAL: {
double lidar_scan_freq = 0;
lidar_drv->GetLidarScanFreq(lidar_scan_freq);
ToLaserscanMessagePublish(laser_scan_points, lidar_scan_freq, setting, node, lidar_pub_laserscan);
ToSensorPointCloudMessagePublish(laser_scan_points, setting, node, lidar_pub_pointcloud);
int n_points = static_cast<int>(laser_scan_points.size());
int n_samples = 20;
if(beam_count_i++ < n_samples) {
// Measure average beam count (points per revolution) at start:
if(beam_count_i > 1) {
// skip the first sample, it is messed up
beam_count += n_points;
}
//RCLCPP_INFO(node->get_logger(), "beam count: %d", n_points);
if(beam_count_i == n_samples) {
beam_count = beam_count / (n_samples - 1);
RCLCPP_INFO(node->get_logger(), "Average beam count: %d", beam_count);
}
} else if(n_points > beam_count - 5) {
// ensure the size of points vector is constant between LIDAR head revolutions:
laser_scan_points.resize(beam_count, laser_scan_points.back());
ToLaserscanMessagePublish(laser_scan_points, lidar_scan_freq, setting, node, lidar_pub_laserscan);
ToSensorPointCloudMessagePublish(laser_scan_points, setting, node, lidar_pub_pointcloud);
}
break;
}
case ldlidar::LidarStatus::DATA_TIME_OUT: {
Expand Down