ROS——rplidar在rviz中三维显示

需求分析

  rplidar A1和rplidar A2使用相同的接口和SDK，因此可以均可以使用该代码。官方的DEMO实现了激光雷达的二维扫描，并将扫描结果事实显示在rviz中，可以满足基本的需求。官方DEMO中将扫描结果在rviz的“LaserScan”中显示，但是由于“LaserScan”只能显示二维坐标，所以当需要使用二维激光雷达三维建模时官方DEMO便不能使用，因此我将其移植到rviz的“PointCloud2”中显示。

消息类型查看

输入以下命令查询“LaserScan”参数：

rosmsg show sensor_msgs/LaserScan

显示如下

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities

输入以下命令查询“PointCloud2”参数：

rosmsg show sensor_msgs/PointCloud2

显示如下

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint32 height
uint32 width
sensor_msgs/PointField[] fields
  uint8 INT8=1
  uint8 UINT8=2
  uint8 INT16=3
  uint8 UINT16=4
  uint8 INT32=5
  uint8 UINT32=6
  uint8 FLOAT32=7
  uint8 FLOAT64=8
  string name
  uint32 offset
  uint8 datatype
  uint32 count
bool is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense

修改后完整代码

从“LaserScan”和“PointCloud2”参数对比可以看出，“PointCloud2”可以满足三维显示的需求，因此修改rplidar_ros。其中“client.cpp”不需要修改，“node.cpp”修改如下：

/*
 *  RPLIDAR ROS NODE
 *
 *  Copyright (c) 2009 - 2014 RoboPeak Team
 *  http://www.robopeak.com
 *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
 *  http://www.slamtec.com
 *
 */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#include "std_srvs/Empty.h"
#include "rplidar.h"

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <boost/foreach.hpp>

#ifndef _countof
#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
#endif

#ifndef DEG2RAD
#define DEG2RAD(x) ((x)*M_PI/180.)
#endif

using namespace rp::standalone::rplidar;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
pcl::PointCloud<pcl::PointXYZ> cloud_msg;
RPlidarDriver * drv = NULL;

void publish_scan(ros::Publisher *pub, ros::Publisher *cloud_pub, 
                  rplidar_response_measurement_node_t *nodes,
                  size_t node_count, ros::Time start,
                  double scan_time, bool inverted,
                  float angle_min, float angle_max,
                  std::string frame_id)
{
    static int scan_count = 0;
    sensor_msgs::LaserScan scan_msg;

    scan_msg.header.stamp = start;
    scan_msg.header.frame_id = frame_id;
    scan_count++;

    bool reversed = (angle_max > angle_min);
    if ( reversed ) {
      scan_msg.angle_min =  M_PI - angle_max;
      scan_msg.angle_max =  M_PI - angle_min;
    } else {
      scan_msg.angle_min =  M_PI - angle_min;
      scan_msg.angle_max =  M_PI - angle_max;
    }
    scan_msg.angle_increment =
        (scan_msg.angle_max - scan_msg.angle_min) / (double)(node_count-1);

    scan_msg.scan_time = scan_time;
    scan_msg.time_increment = scan_time / (double)(node_count-1);
    scan_msg.range_min = 0.15;
    scan_msg.range_max = 8.0;

    scan_msg.intensities.resize(node_count);
    scan_msg.ranges.resize(node_count);
    bool reverse_data = (!inverted && reversed) || (inverted && !reversed);
    if (!reverse_data) {
        for (size_t i = 0; i < node_count; i++) {
            float read_value = (float) nodes[i].distance_q2/4.0f/1000;
            if (read_value == 0.0)
                scan_msg.ranges[i] = std::numeric_limits<float>::infinity();
            else
                scan_msg.ranges[i] = read_value;
            scan_msg.intensities[i] = (float) (nodes[i].sync_quality >> 2);
        }
    } else {
        for (size_t i = 0; i < node_count; i++) {
            float read_value = (float)nodes[i].distance_q2/4.0f/1000;
            if (read_value == 0.0)
                scan_msg.ranges[node_count-1-i] = std::numeric_limits<float>::infinity();
            else
                scan_msg.ranges[node_count-1-i] = read_value;
            scan_msg.intensities[node_count-1-i] = (float) (nodes[i].sync_quality >> 2);
        }
    }
    cloud_msg.header.frame_id = "laser";

    cloud_msg.height = 1;

    int count = scan_msg.scan_time / scan_msg.time_increment;
    cloud_msg.width  = count;
    cloud_msg.points.resize(cloud_msg.width * cloud_msg.height);
    for(int i = 0; i < count; i++) {
        float degree = RAD2DEG(scan_msg.angle_min + scan_msg.angle_increment * i);
        if(scan_msg.ranges[i])
        {
            cloud_msg.points[i].x = scan_msg.ranges[i]*cos(DEG2RAD(degree));
            cloud_msg.points[i].y = scan_msg.ranges[i]*sin(DEG2RAD(degree));
            cloud_msg.points[i].z = 0;
        }
        else
        {
            cloud_msg.points[i].x = 6*cos(DEG2RAD(degree));
            cloud_msg.points[i].y = 6*sin(DEG2RAD(degree));
            cloud_msg.points[i].z = 0;
        }
        ROS_INFO(": [%f, %f]", degree, scan_msg.ranges[i]);
    }

    pub->publish(scan_msg);
    pcl_conversions::toPCL(ros::Time::now(), cloud_msg.header.stamp);
    cloud_pub->publish(cloud_msg);
}

bool getRPLIDARDeviceInfo(RPlidarDriver * drv)
{
    u_result     op_result;
    rplidar_response_device_info_t devinfo;

    op_result = drv->getDeviceInfo(devinfo);
    if (IS_FAIL(op_result)) {
        if (op_result == RESULT_OPERATION_TIMEOUT) {
            fprintf(stderr, "Error, operation time out.\n");
        } else {
            fprintf(stderr, "Error, unexpected error, code: %x\n", op_result);
        }
        return false;
    }

    // print out the device serial number, firmware and hardware version number..
    printf("RPLIDAR S/N: ");
    for (int pos = 0; pos < 16 ;++pos) {
        printf("%02X", devinfo.serialnum[pos]);
    }

    printf("\n"
           "Firmware Ver: %d.%02d\n"
           "Hardware Rev: %d\n"
           , devinfo.firmware_version>>8
           , devinfo.firmware_version & 0xFF
           , (int)devinfo.hardware_version);
    return true;
}

bool checkRPLIDARHealth(RPlidarDriver * drv)
{
    u_result     op_result;
    rplidar_response_device_health_t healthinfo;

    op_result = drv->getHealth(healthinfo);
    if (IS_OK(op_result)) { 
        printf("RPLidar health status : %d\n", healthinfo.status);

        if (healthinfo.status == RPLIDAR_STATUS_ERROR) {
            fprintf(stderr, "Error, rplidar internal error detected."
                            "Please reboot the device to retry.\n");
            return false;
        } else {
            return true;
        }

    } else {
        fprintf(stderr, "Error, cannot retrieve rplidar health code: %x\n", 
                        op_result);
        return false;
    }
}

bool stop_motor(std_srvs::Empty::Request &req,
                               std_srvs::Empty::Response &res)
{
  if(!drv)
       return false;

  ROS_DEBUG("Stop motor");
  drv->stop();
  drv->stopMotor();
  return true;
}

bool start_motor(std_srvs::Empty::Request &req,
                               std_srvs::Empty::Response &res)
{
  if(!drv)
       return false;
  ROS_DEBUG("Start motor");
  drv->startMotor();
  drv->startScan();;
  return true;
}

int main(int argc, char * argv[]) {
    ros::init(argc, argv, "rplidar_node");

    std::string serial_port;
    int serial_baudrate = 115200;
    std::string frame_id;
    bool inverted = false;
    bool angle_compensate = true;

    ros::NodeHandle nh;
    ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("scan", 1000);
    ros::Publisher cloud_pub = nh.advertise<PointCloud> ("point_cloud2", 1000);

    ros::NodeHandle nh_private("~");
    nh_private.param<std::string>("serial_port", serial_port, "/dev/ttyUSB0"); 
    nh_private.param<int>("serial_baudrate", serial_baudrate, 115200); 
    nh_private.param<std::string>("frame_id", frame_id, "laser_frame");
    nh_private.param<bool>("inverted", inverted, false);
    nh_private.param<bool>("angle_compensate", angle_compensate, true);

    printf("RPLIDAR running on ROS package rplidar_ros\n"
           "SDK Version: "RPLIDAR_SDK_VERSION"\n");

    u_result     op_result;

    // create the driver instance
    drv = RPlidarDriver::CreateDriver(RPlidarDriver::DRIVER_TYPE_SERIALPORT);

    if (!drv) {
        fprintf(stderr, "Create Driver fail, exit\n");
        return -2;
    }

    // make connection...
    if (IS_FAIL(drv->connect(serial_port.c_str(), (_u32)serial_baudrate))) {
        fprintf(stderr, "Error, cannot bind to the specified serial port %s.\n"
            , serial_port.c_str());
        RPlidarDriver::DisposeDriver(drv);
        return -1;
    }

    // get rplidar device info
    if (!getRPLIDARDeviceInfo(drv)) {
        return -1;
    }

    // check health...
    if (!checkRPLIDARHealth(drv)) {
        RPlidarDriver::DisposeDriver(drv);
        return -1;
    }

    ros::ServiceServer stop_motor_service = nh.advertiseService("stop_motor", stop_motor);
    ros::ServiceServer start_motor_service = nh.advertiseService("start_motor", start_motor);

    drv->startMotor();
    drv->startScan();

    ros::Time start_scan_time;
    ros::Time end_scan_time;
    double scan_duration;
    while (ros::ok()) {

        rplidar_response_measurement_node_t nodes[360*2];
        size_t   count = _countof(nodes);

        start_scan_time = ros::Time::now();
        op_result = drv->grabScanData(nodes, count);
        end_scan_time = ros::Time::now();
        scan_duration = (end_scan_time - start_scan_time).toSec() * 1e-3;

        if (op_result == RESULT_OK) {
            op_result = drv->ascendScanData(nodes, count);

            float angle_min = DEG2RAD(0.0f);
            float angle_max = DEG2RAD(359.0f);
            if (op_result == RESULT_OK) {
                if (angle_compensate) {
                    const int angle_compensate_nodes_count = 360;
                    const int angle_compensate_multiple = 1;
                    int angle_compensate_offset = 0;
                    rplidar_response_measurement_node_t angle_compensate_nodes[angle_compensate_nodes_count];
                    memset(angle_compensate_nodes, 0, angle_compensate_nodes_count*sizeof(rplidar_response_measurement_node_t));
                    int i = 0, j = 0;
                    for( ; i < count; i++ ) {
                        if (nodes[i].distance_q2 != 0) {
                            float angle = (float)((nodes[i].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
                            int angle_value = (int)(angle * angle_compensate_multiple);
                            if ((angle_value - angle_compensate_offset) < 0) angle_compensate_offset = angle_value;
                            for (j = 0; j < angle_compensate_multiple; j++) {
                                angle_compensate_nodes[angle_value-angle_compensate_offset+j] = nodes[i];
                            }
                        }
                    }

                    publish_scan(&scan_pub, &cloud_pub, angle_compensate_nodes, angle_compensate_nodes_count,
                             start_scan_time, scan_duration, inverted,
                             angle_min, angle_max,
                             frame_id);
                } else {
                    int start_node = 0, end_node = 0;
                    int i = 0;
                    // find the first valid node and last valid node
                    while (nodes[i++].distance_q2 == 0);
                    start_node = i-1;
                    i = count -1;
                    while (nodes[i--].distance_q2 == 0);
                    end_node = i+1;

                    angle_min = DEG2RAD((float)(nodes[start_node].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
                    angle_max = DEG2RAD((float)(nodes[end_node].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);

                    publish_scan(&scan_pub, &cloud_pub, &nodes[start_node], end_node-start_node +1,
                             start_scan_time, scan_duration, inverted,
                             angle_min, angle_max,
                             frame_id);
               }
            } else if (op_result == RESULT_OPERATION_FAIL) {
                // All the data is invalid, just publish them
                float angle_min = DEG2RAD(0.0f);
                float angle_max = DEG2RAD(359.0f);

                publish_scan(&scan_pub, &cloud_pub,nodes, count,
                             start_scan_time, scan_duration, inverted,
                             angle_min, angle_max,
                             frame_id);
            }
        }

        ros::spinOnce();
    }

    // done!
    drv->stop();
    drv->stopMotor();
    RPlidarDriver::DisposeDriver(drv);
    return 0;
}

代码修改详解

在“node.cpp”中主要做了以下几点修改：
1.添加“pointcloud2”的头文件

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <boost/foreach.hpp>

2.修改宏定义

#ifndef _countof
#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
#endif

#ifndef DEG2RAD
#define DEG2RAD(x) ((x)*M_PI/180.)
#endif

3.声明<PointCloud>和定义需要发布的消息cloud_msg

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
pcl::PointCloud<pcl::PointXYZ> cloud_msg;

3.定义消息发布结点

ros::Publisher cloud_pub = nh.advertise<PointCloud> ("point_cloud2", 1000);

4.修改publish_scan函数

void publish_scan(ros::Publisher *pub,
                  rplidar_response_measurement_node_t *nodes,
                  size_t node_count, ros::Time start,
                  double scan_time, bool inverted,
                  float angle_min, float angle_max,
std::string frame_id)

在函数参数传递时加入ros::Publisher *cloud_pub

void publish_scan(ros::Publisher *pub, ros::Publisher *cloud_pub, 
                  rplidar_response_measurement_node_t *nodes,
                  size_t node_count, ros::Time start,
                  double scan_time, bool inverted,
                  float angle_min, float angle_max,
                  std::string frame_id)

5.publish_scan函数中添加PointCloud2参数的赋值，并在向LaserScan发布消息的同时向PointCloud2发布消息

cloud_msg.header.frame_id = "laser";

    cloud_msg.height = 1;

    int count = scan_msg.scan_time / scan_msg.time_increment;
    cloud_msg.width  = count;
    cloud_msg.points.resize(cloud_msg.width * cloud_msg.height);
    for(int i = 0; i < count; i++) {
        float degree = RAD2DEG(scan_msg.angle_min + scan_msg.angle_increment * i);
        if(scan_msg.ranges[i])
        {
            cloud_msg.points[i].x = scan_msg.ranges[i]*cos(DEG2RAD(degree));
            cloud_msg.points[i].y = scan_msg.ranges[i]*sin(DEG2RAD(degree));
            cloud_msg.points[i].z = 0;
        }
        else
        {
            cloud_msg.points[i].x = 6*cos(DEG2RAD(degree));
            cloud_msg.points[i].y = 6*sin(DEG2RAD(degree));
            cloud_msg.points[i].z = 0;
        }
        ROS_INFO(": [%f, %f]", degree, scan_msg.ranges[i]);
    }

    pub->publish(scan_msg);
    pcl_conversions::toPCL(ros::Time::now(), cloud_msg.header.stamp);
    cloud_pub->publish(cloud_msg);

测试

1.运行代码

roslaunch rplidar_ros view_rplidar.launch

2.rviz界面设置
2.1.添加PointCloud2模块
点击右下角“Add”按钮

选择“PointCloud2”并修改显示的名称，“OK”保存

2.2.修改参数
“Topic”一定要和代码中的“Topic”名称相同，要不会出错（“States”会显示“error”）
修改“Size”参数，调整点云显示大小

“Size”设置太小会被“LaserScan”显示的红色点遮盖，在此设置为0.05，可以看到红色点与白色点重合。
2.3.保存设置
设置完后记得保存，这样下次再运行的时候就不用再添加、配置“PointCloud2”，当然这要覆盖原有的“rplidar.rviz”文件，所以大家自己斟酌咯。

随后再运行一下语句的时候就会自动调用之前配置好的文件

roslaunch rplidar_ros view_rplidar.launch

三维显示

如果想生成三维的效果，只用再函数publish_scan中添加PointCloud2参数中的z轴坐标即可，上述代码中z坐标为0。

cloud_msg.points[i].z = 0;