Rplidar A1M8 connection on PIO pins

[alain-lnpcrd]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

RaspberryPI 4B 8Go

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.3

Which RMW is your robot running?

FastRTPS

Does your robot have an assigned namespace? If so, please share.

/

Is the robot connected to a network? If so, what is the network type?

home network

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

None

What is the Adapter Board's USB/BLE Toggle currently switched to?

USB

Describe your question.

Hi,
The USB/UART adapter of my rplidar being damaged and given that the only supplier found RobotShop is in stock renewal, I fell back on the PIO connection described on https://github.com/berndporr/rplidar_rpi.
The example
sudo ./printdata > tt2.tsv
gnuplot> plot "tt2.tsv"
corrected to:
sudo ./printdata > tt2.tsv
gnuplot
set terminal jpeg
set output "output.jpg"
plot "tt2.tsv"
gives with output.jpg the image of a laser trace.

But I can't get the mapping proposed in create3_lidar to work.
The serial_port having changed I create a symbolic link:
ln -s /dev/ttyAMA0 /dev/ttyUSB0
then I run the launches

moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 launch create3_lidar_slam sensors_launch.py
[INFO] [launch]: All log files can be found below /home/moi/.ros/log/2024-01-18-11-24-26-117298-pi4b-8go-u-22-04-4562
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [4563]
[static_transform_publisher-1] [WARN] [1705573466.878842845] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-1] [INFO] [1705573467.033781699] [static_transform_publisher_fRacLjn3XmrW5rbJ]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: ('-0.012000', '0.000000', '0.144000')
[static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-1] from 'base_footprint' to 'laser_frame'
[INFO] [rplidar_composition-2]: process started with pid [4574]
[rplidar_composition-2] [INFO] [1705573468.967938656] [rplidar_composition]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.1.0

moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 launch create3_lidar_slam slam_toolbox_launch.py 
[INFO] [launch]: All log files can be found below /home/moi/.ros/log/2024-01-18-11-09-09-077465-pi4b-8go-u-22-04-4384
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [async_slam_toolbox_node-1]: process started with pid [4385]
[async_slam_toolbox_node-1] [INFO] [1705572549.954706633] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-1] [INFO] [1705572550.512325153] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-1] [INFO] [1705572550.516101922] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.

moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 launch create3_lidar_slam rviz_launch.py
[INFO] [launch]: All log files can be found below /home/moi/.ros/log/2024-01-18-11-09-36-475551-pi4b-8go-u-22-04-4413
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [4414]
[rviz2-1] [INFO] [1705572580.075111606] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1705572580.075437472] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1705572582.503774911] [rviz2]: Stereo is NOT SUPPORTED

 No mapping in RVIZ, frame [map] doesn't exist

moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 node list
/_internal/composite_hazard
/_internal/kinematics_engine
/_internal/mobility
/_internal/stasis
/mobility_monitor
/motion_control
/robot_state
/rplidar_composition
/rviz
/slam_toolbox
/static_transform
/static_transform_publisher_fRacLjn3XmrW5rbJ
/system_health
/transform_listener_impl_aaaac04e7530
/transform_listener_impl_aaaae66aa630
/ui_mgr
moi@pi4b-8go-u-22-04:~/create3_ws$ 

No rplidar_node
No publisher

moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 topic info --verbose /scan
Type: sensor_msgs/msg/LaserScan

Publisher count: 0

Subscription count: 2

Node name: slam_toolbox
Node namespace: /
Topic type: sensor_msgs/msg/LaserScan
Endpoint type: SUBSCRIPTION
GID: 01.0f.7d.2d.21.11.44.bf.02.00.00.00.00.00.22.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Node name: rviz
Node namespace: /
Topic type: sensor_msgs/msg/LaserScan
Endpoint type: SUBSCRIPTION
GID: 01.0f.7d.2d.3e.11.b6.a4.01.00.00.00.00.00.29.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

moi@pi4b-8go-u-22-04:~/create3_ws$

I probably have to touch the program but I have no idea where

But So,

moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 launch rplidar_ros view_rplidar_a1_launch.py
[INFO] [launch]: All log files can be found below /home/moi/.ros/log/2024-01-18-13-10-34-186673-pi4b-8go-u-22-04-4786
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rplidar_node-1]: process started with pid [4787]
[INFO] [rviz2-2]: process started with pid [4789]
[rplidar_node-1] [INFO] [1705579834.858576144] [rplidar_node]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.1.0
[rviz2-2] [INFO] [1705579838.237953699] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1705579838.238655431] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-2] [INFO] [1705579840.767183752] [rviz2]: Stereo is NOT SUPPORTED

Grid is empty and Frale [laser] does not exist


Thanks for help!

[alain-lnpcrd]

hi,
The port for GPIO 14/15 TXD/RXD on an RPi4 is /dev/ttyS0
I plugged the motor into the USB/UART which allows the rplidar to run

moi@pi4b-8go-u-22-04:~/create3_ws$ sudo ln -s /dev/ttyS0 /dev/ttyUSB0
[sudo] Mot de passe de moi : 
moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 launch rplidar_ros view_rplidar_a1_launch.py
[INFO] [launch]: All log files can be found below /home/moi/.ros/log/2024-01-22-11-22-35-367271-pi4b-8go-u-22-04-3451
[INFO] [launch]: Default logging verbosity is set to INFO
serial_port <launch.substitutions.launch_configuration.LaunchConfiguration object at 0xffffb66921a0>
[INFO] [rplidar_node-1]: process started with pid [3453]
[INFO] [rviz2-2]: process started with pid [3455]
[rplidar_node-1] [INFO] [1705918956.031176233] [rplidar_node]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.1.0
[rplidar_node-1] [INFO] [1705918956.038369349] [rplidar_node]: RPLidar S/N: 699E99F6C9E59AD5C5E59CF7954C3415
[rplidar_node-1] [INFO] [1705918956.038564865] [rplidar_node]: Firmware Ver: 1.29
[rplidar_node-1] [INFO] [1705918956.038605643] [rplidar_node]: Hardware Rev: 7
[rplidar_node-1] [INFO] [1705918956.041198685] [rplidar_node]: RPLidar health status : 0
[rplidar_node-1] [INFO] [1705918956.041335721] [rplidar_node]: RPLidar health status : OK.
[rplidar_node-1] [INFO] [1705918956.041368757] [rplidar_node]: Start
[rplidar_node-1] [INFO] [1705918956.236846090] [rplidar_node]: current scan mode: Sensitivity, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz, 
[rviz2-2] [INFO] [1705918959.346897040] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1705918959.347467348] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-2] [INFO] [1705918962.089774962] [rviz2]: Stereo is NOT SUPPORTED

but

moi@pi4b-8go-u-22-04:~/create3_ws$ ros2 launch create3_lidar_slam sensors_launch.py 
[INFO] [launch]: All log files can be found below /home/moi/.ros/log/2024-01-22-11-44-11-910842-pi4b-8go-u-22-04-8173
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [8174]
[static_transform_publisher-1] [WARN] [1705920252.498046882] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-1] [INFO] [1705920252.560378532] [static_transform_publisher_Pci896eJelZdokVR]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: ('-0.012000', '0.000000', '0.144000')
[static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-1] from 'base_footprint' to 'laser_frame'
[INFO] [rplidar_composition-2]: process started with pid [8185]
[rplidar_composition-2] [INFO] [1705920254.559700714] [rplidar_composition]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.1.0
[rplidar_composition-2] [ERROR] [1705920257.061532757] [rplidar_composition]: Error, operation time out. SL_RESULT_OPERATION_TIMEOUT! 
[ERROR] [rplidar_composition-2]: process has died [pid 8185, exit code 255, cmd '/home/moi/create3_ws/install/rplidar_ros/lib/rplidar_ros/rplidar_composition --ros-args -r __node:=rplidar_composition -r __ns:=/ --params-file /home/moi/create3_ws/install/create3_lidar_slam/share/create3_lidar_slam/config/rplidar_node.yaml'].

fails to transform rplidar_compositiion node in rplidar_node
I don't have enough knowledge of ros2 to debug this operation.
Thanks for help!

[alain-lnpcrd]

HI,
iRobotEducation/create3_examples#50

delete https://github.com/iRobotEducation/create3_examples/blob/humble/create3_lidar_slam/launch/sensors_launch.py#L41

[slowrunner]

Congratulations on the workaround solution. What are your plans with the scans?

[alain-lnpcrd]

see my create3 wander around the house avoiding prohibited areas such as the indoor garden and possibly make friends with the robot vacuum cleaner.
For now I am starting to configure my aok D lite a1m8 camera and I am entitled to "[ERROR] [component_container-1]: process has died [pid 7936, exit code 127, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/']"

[slowrunner]

create3 wander around the house avoiding prohibited areas such as the indoor garden

Looking forward to hearing about your progress and challenges in this - perhaps you can start a "Show and Tell" thread for your robot adventures (mine)

aok D lite a1m8 camera and I am entitled to "[ERROR] [component_container-1]: process has died

Post about this in a new question, and I can probably help with that. I spent all last week conquering those error msgs.

[alain-lnpcrd]

Wonderful your robots!
I separated the board from the create3 by turning on the bluetooth to power the pi with the mains power supply. I manage to get the camera nodes working and I wonder if there is not an insufficient power supply for the camera with the create3 USB; I'll see that tomorrow.
Thank you for your offer of help.