wanngwe/odin_ros_driver1
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1.Added camera point cloud extrinsic parameter rendering function
2.add image_compressed
3.fix imshow error about slam pointcloud
This commit is contained in:
manifoldsdk
2025-07-23 19:15:59 +08:00
parent 876cc931b4
commit eb750f9fe0
12 changed files with 1462 additions and 421 deletions
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README.md
+63 -33
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@@ -16,7 +16,7 @@ This driver package provides core functionality for point cloud SLAM application
## 1. Version
Current Version: v0.1
Current Version: v0.2
## 2. Preparation
@@ -99,22 +99,22 @@ sudo udevadm trigger
git clone https://github.com/manifoldsdk/odin_ros_driver.git catkin_ws/src/odin_ros_driver
```
Note:
Please clone the source code into the "[workspace]/src/" folder, otherwise compilation errors will occur.
Please clone the source code into the "[ros_workspace]/src/" folder, otherwise compilation errors will occur.
### 3.3 make
#### 3.3.1 ROS1 (Noetic for example):
```shell
source /opt/ros/noetic/setup.sh
./scripty/build_ros.sh
source /opt/ros/noetic/setup.bash
./script/build_ros.sh
```
#### 3.3.2 ROS2 (Foxy for example):
```shell
source /opt/ros/foxy/setup.sh
./scripty/build_ros2.sh
source /opt/ros/foxy/setup.bash
./script/build_ros2.sh
```
### 3.4 run:
@@ -122,27 +122,29 @@ source /opt/ros/foxy/setup.sh
#### 3.4.1 ROS1 (Noetic for example):
```shell
source ../../devel/setup.sh
roslaunch odin_ros_driver [launch file]
source [ros_workspace]/install/setup.bash
ros2 launch odin_ros_driver [launch file]
```
● odin_ros_driver: package name;
● launch file: launch file;
ROS1 Demo Launch Instructions:
● ros_workspace: User's ROS environment workspace;
```shell
roslaunch odin_ros_driver odin1_ros1.launch
```
#### 3.4.2 ROS2 (Foxy for example):
```shell
source ../../install/setup.sh
source [ros2_workspace]/install/setup.bash
ros2 launch odin_ros_driver [launch file]
```
● odin_ros_driver: package name;
● launch file: launch file;
● ros2_workspace: User's ROS2 environment workspace;
ROS2 Demo Launch Instructions:
```shell
ros2 launch odin_ros_driver odin1_ros2.launch.py
@@ -155,6 +157,7 @@ Odin_ROS_Driver/ // ROS1/ROS2 driver package
src/
host_sdk_sample.cpp // Example source code
yaml_parser.cpp // Source code for reading yaml parameters
rawCloudRender.cpp // Source code for RenderCloud
lib/
liblydHostApi_amd.a // Static library for AMD platform
liblydHostApi_arm.a // Static library for ARM platform
@@ -163,8 +166,10 @@ Odin_ROS_Driver/ // ROS1/ROS2 driver package
lidar_api_type.h // API data structure header file
lidar_api.h // API function declarations
yaml_parser.h // Parameter file reading header file
rawCloudRender.h // API about RenderCloud
config/
control_command.yaml // control parameter file for driver
control_command.yaml // Control parameter file for driver
calib.yaml //Machine calibration yaml
launch_ROS1/
odin1_ros1.launch // ROS1 launch file
launch_ROS2/
@@ -182,38 +187,30 @@ Odin_ROS_Driver/ // ROS1/ROS2 driver package
| odin1_ros1.launch | Launch file for ROS1 - Odin1 Basic Operations Demo |
| odin1_ros2.launch.py | Launch file for ROS2 - Odin1 Basic Operations Demo |
### 4.3 Config file
Internal parameters of the Odin ROS driver are defined in config/control_command.yaml. Below are descriptions of the commonly used parameters:
| Parameter | Detailed Description | Default |
|---------------|----------------------|---------|
| streamctrl: 1 | Master data stream control (0: OFF, 1: ON) | 1 |
| sendrgb:1 | RGB image stream control (0: OFF, 1: ON) | 1 |
| sendimu:1 | IMU (Inertial Measurement Unit) stream control (0: OFF, 1: ON) | 1 |
| sendodom:1 | Odometry data stream control (0: OFF, 1: ON) | 1 |
| senddtof:0 | Raw PointCloud sensor stream control (0: OFF, 1: ON) | 0 |
| sendcloudslam:1 | Slam PointCloud stream control (0: OFF, 1: ON) | 1 |
### 4.4 ROS topics
### 4.3 ROS topics
Internal parameters of the Odin ROS driver are defined in config/control_command.yaml. Below are descriptions of the commonly used parameters:
| Topic | Detailed Description |
|---------------------|----------------------|
| odin1/imu | Imu Topic |
| odin1/image | RGB Camera Topic |
| odin1/image/compressed | RGB Camera compressed Topic |
| odin1/cloud_raw | Raw_Cloud Topic |
| odin1/cloud_render | Render_Cloud Topic |
| odin1/cloud_slam | Slam_PointCloud Topic |
| odin1/odometry_map | Odom Topic |
## 5. FAQ
### 5.1 Segmentation fault upon re-launching host SDK
**Error Message**
Core dump occurs when restarting host SDK after initial successful run
No device connected after 60 seconds
**Solution**
```shell
power cycle Odin1 # Disconnect and reconnect LiDAR power
reinitialize host SDK # Execute SDK after device reboot
```
1.Please power on Odin module again # Disconnect and reconnect odin power
2.Reinitialize Odin SDK # Execute SDK after device reboot
### 5.2 Library binding failure during compilation
@@ -221,12 +218,18 @@ reinitialize host SDK # Execute SDK after device reboot
ld: cannot find -llydHostApi or symbol lookup errors
**Resolution**
1.Clean previous build artifacts
ROS1
```shell
Clean previous build artifacts
ROS1 rm -rf devel/ build/
ROS2 rm -rf devel/ install/ log/
Re-run script installation (refer to section 2.3)
```
rm -rf devel/ build/
```
ROS2
```shell
rm -rf devel/ install/ log/
```
2.Re-run script installation
### 5.3 Docker GUI passthrough failure
@@ -236,4 +239,31 @@ Unable to open X display or No protocol specified
**Resolution**
```shell
xhost + #This command enables graphical passthrough to Docker containers
```
```
### 5.4 RVIZ has not responded for a long time
**Error Message**
Rviz does not respond, and after a while the terminal prints Device disconnected, waiting for reconnection...
**Resolution**
Please power on Odin module again
### 5.5 Device not responding
**Error Message**
Missed ok response from device,probably wrong interaction procedure.
**Resolution**
Please adopt the solution mentioned in 5.1
### 5.6 Device has no external calibration file
**Error Message**
ERROR：Missing camera node 'cam_0'
**Resolution**
Please plug and unplug the USB again