双雷达（velodyne）的启动与集成

1 引入

自动导航需要多个雷达来避免盲区和提高定位精度。本文项目使用前后两个velodyne VLD16的雷达。

2 启动两个雷达的驱动

2.1 方案选择

查了网上，看到似乎有两种方案：

• 一种是采用的.launch文件中不同的namespace，去配置不同的参数，参阅：https://zhuanlan.zhihu.com/p/562961358
  但这种方式应该是过时了，包括.launch文件启动，以及velodyne的官方新驱动里面几乎看不到nodelet了
• 所以拟采用第二种方式，修改launch.py文件，参阅： https://blog.csdn.net/qq_45701501/article/details/119486110

2.2 实施步骤

• 配置文件
  前雷达配置文件VLP1params.yaml：

velodyne_driver_node:
    ros__parameters:
        device_ip: 192.168.1.201
        gps_time: false
        time_offset: 0.0
        enabled: true
        read_once: false
        read_fast: false
        repeat_delay: 0.0
        frame_id: F_laser_link
        model: VLP16
        rpm: 600.0
        port: 2368
        timestamp_first_packet: false

后雷达配置文件VLP2params.yaml：

velodyne_driver_node:
    ros__parameters:
        device_ip: 192.168.1.202
        gps_time: false
        time_offset: 0.0
        enabled: true
        read_once: false
        read_fast: false
        repeat_delay: 0.0
        frame_id: B_laser_link
        model: VLP16
        rpm: 600.0
        port: 2368
        timestamp_first_packet: false

使用不同IP（两个雷达内部IP要设置好与配置文件一样）192.168.1.201和192.168.1.202
使用不同的frame_id：F_laser_link和B_laser_link

• TF设置，根据雷达安装位置进行设置：在启动文件中加两个tf2_ros的静态TF发布：

    Node(
            package = "tf2_ros", 
            namespace="base_to_Flaser",
            executable = "static_transform_publisher",
            arguments = ["0.87","0","0.58","0","0","0", "base_link","F_laser_link"]
        ), 
   Node(
            package = "tf2_ros", 
            namespace="base_to_Flaser",
            executable = "static_transform_publisher",
            arguments = ["-0.20","0","0.58","0","0","0", "base_link","B_laser_link"]
        ), 

• 修改雷达启动程序
  启动程序的编写，参见如何编写一个启动文件(launch file)

import os
import yaml

import ament_index_python.packages
from launch import LaunchDescription
from launch_ros.actions import Node

#velodyne_1
def generate_launch_description():
    ld = LaunchDescription()

    driver_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_driver')
    driver_params_file_F = os.path.join(driver_share_dir, 'config', 'VLP1params.yaml')
    velodyne_driver_node_F = Node(
        package="velodyne_driver",
        executable="velodyne_driver_node",
        name="velodyne_driver_node_F",
        parameters=[driver_params_file_F],
        remappings=[
            ("velodyne_packets", "velodyne_packets_F")
        ]
    )

    convert_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_pointcloud')
    convert_params_file = os