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Update ROS 2 parameters and use node's clock instance #9

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merged 3 commits into from
Apr 27, 2020
Merged

Update ROS 2 parameters and use node's clock instance #9

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a9d9a09
Update ROS 2 parameters and use node's clock instance
allenh1 Apr 24, 2020
cf78cf4
Fix scan_mode listing output
allenh1 Apr 27, 2020
70204ba
Stop motors and exit when set_scan_mode() call fails
allenh1 Apr 27, 2020
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4 changes: 1 addition & 3 deletions include/rplidar_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ static float getAngle(const rplidar_response_measurement_node_hq_t& node)
class RPLIDAR_ROS_PUBLIC rplidar_node : public rclcpp::Node
{
public:
explicit rplidar_node(rclcpp::NodeOptions options);
explicit rplidar_node(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
virtual ~rplidar_node();

void publish_scan(const double scan_time, ResponseNodeArray nodes, size_t node_count);
Expand Down Expand Up @@ -115,8 +115,6 @@ class RPLIDAR_ROS_PUBLIC rplidar_node : public rclcpp::Node
StartMotorService m_start_motor_service;
/* SDK Pointer */
RPlidarDriver * m_drv = nullptr;
/* Clock */
Clock m_clock;
/* Timer */
Timer m_timer;
/* Scan Times */
Expand Down
47 changes: 23 additions & 24 deletions src/rplidar_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,20 +38,20 @@
namespace rplidar_ros
{

rplidar_node::rplidar_node(rclcpp::NodeOptions options)
rplidar_node::rplidar_node(const rclcpp::NodeOptions & options)
: rclcpp::Node("rplidar_node", options)
{
/* set parameters */
this->get_parameter_or("channel_type", channel_type_, std::string("serial"));
this->get_parameter_or("tcp_ip", tcp_ip_, std::string("192.168.0.7"));
this->get_parameter_or("tcp_port", tcp_port_, 20108);
this->get_parameter_or("serial_port", serial_port_, std::string("/dev/ttyUSB0"));
this->get_parameter_or("serial_baudrate", serial_baudrate_, 115200);
this->get_parameter_or("frame_id", frame_id_, std::string("laser_frame"));
this->get_parameter_or("inverted", inverted_, false);
this->get_parameter_or("angle_compensate", angle_compensate_, false);
this->get_parameter_or("scan_mode", scan_mode_, std::string());
this->get_parameter_or("topic_name", topic_name_, std::string("scan"));
channel_type_ = this->declare_parameter("channel_type", "serial");
tcp_ip_ = this->declare_parameter("tcp_ip", "192.168.0.7");
tcp_port_ = this->declare_parameter("tcp_port", 20108);
serial_port_ = this->declare_parameter("serial_port", "/dev/ttyUSB0");
serial_baudrate_ = this->declare_parameter("serial_baudrate", 115200);
frame_id_ = this->declare_parameter("frame_id", std::string("laser_frame"));
inverted_ = this->declare_parameter("inverted", false);
angle_compensate_ = this->declare_parameter("angle_compensate", false);
scan_mode_ = this->declare_parameter("scan_mode", std::string());
topic_name_ = this->declare_parameter("topic_name", std::string("scan"));

RCLCPP_INFO(this->get_logger(),
"RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '%s'", RPLIDAR_SDK_VERSION);
Expand Down Expand Up @@ -105,16 +105,14 @@ rplidar_node::rplidar_node(rclcpp::NodeOptions options)

if (!set_scan_mode()) {
/* set the scan mode */
return;
m_drv->stop();
m_drv->stopMotor();
RPlidarDriver::DisposeDriver(m_drv);
exit(1);
}

/* done setting up RPLIDAR stuff, now set up ROS 2 stuff */

/* connect to ROS clock */
rclcpp::TimeSource timesource;
m_clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
timesource.attachClock(m_clock);

/* create the publisher for "/scan" */
m_publisher = this->create_publisher<LaserScan>(topic_name_, 10);

Expand Down Expand Up @@ -145,7 +143,7 @@ void rplidar_node::publish_scan(
sensor_msgs::msg::LaserScan scan_msg;

/* NOTE(allenh1): time was passed in as a parameter before */
scan_msg.header.stamp = m_clock->now();
scan_msg.header.stamp = this->now();
scan_msg.header.frame_id = frame_id_;
scan_count++;

Expand Down Expand Up @@ -279,17 +277,18 @@ bool rplidar_node::set_scan_mode()
if (IS_OK(op_result)) {
auto iter = std::find_if(allSupportedScanModes.begin(), allSupportedScanModes.end(),
[this](auto s1) {
return s1.scan_mode == scan_mode_;
return std::string(s1.scan_mode) == scan_mode_;
});
if (iter == allSupportedScanModes.end()) {
RCLCPP_ERROR(
this->get_logger(), "scan mode `%s' is not supported by lidar, supported modes:",
scan_mode_.c_str());
this->get_logger(), "scan mode `%s' is not supported by lidar, supported modes ('%zd'):",
scan_mode_.c_str(), allSupportedScanModes.size());
for (const auto & it : allSupportedScanModes) {
RCLCPP_ERROR(this->get_logger(), "\t%s: max_distance: %.1f m, Point number: %.1fK",
RCLCPP_ERROR(this->get_logger(), "%s: max_distance: %.1f m, Point number: %.1fK",
it.scan_mode, it.max_distance, (1000 / it.us_per_sample));
}
op_result = RESULT_OPERATION_FAIL;
return false;
} else {
op_result = m_drv->startScanExpress(false /* not force scan */, iter->id, 0,
&current_scan_mode);
Expand Down Expand Up @@ -326,9 +325,9 @@ void rplidar_node::publish_loop()
size_t count = 360 * 8;
auto nodes = std::make_unique<rplidar_response_measurement_node_hq_t[]>(count);

start_scan_time = m_clock->now();
start_scan_time = this->now();
op_result = m_drv->grabScanDataHq(nodes.get(), count);
end_scan_time = m_clock->now();
end_scan_time = this->now();
double scan_duration = (end_scan_time - start_scan_time).nanoseconds() * 1E-9;

if (op_result != RESULT_OK) {
Expand Down