I am trying get flatcan from ydlidar x4 but it not fire. I see lidar works, from ydlidar sample I see plot results, but when I add to get flatscan msg, it does not work.
Check my sample witjh realsense camera and I got flatscan (DepthImageFlattening + Throtle codelets).
Also check ydlidar with ros drivers and got result in rviz.
My sample project:
Blockquote
{
“name”: “lidar”,
“modules”: [
“ydlidar”,
“viewers”,
“realsense”,
“rgbd_processing”,
“//apps/csp/lidar/drivers:flatscan”
],
“graph”: {
“nodes”: [
{
“name”: “ydlidar”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “lidar_initializer”,
“type”: “isaac::alice::PoseInitializer”
},
{
“name”: “driver”,
“type”: “isaac::ydlidar::YdLidar”
}
]
},
{
“name”: “viewers”,
“components”: [
{
“name”: “MessageLedger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “FlatscanViewer”,
“type”: “isaac::viewers::FlatscanViewer”
}
]
},
{
“name”: “clflatscan_node”,
“components”: [
{
“name”: “clflatscan_component”,
“type”: “isaac::clflatscan”
},
{
“name”: “Message ledger component”,
“type”: “isaac::alice::MessageLedger”
}
]
},
{
“name”: “camera”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “realsense”,
“type”: “isaac::RealsenseCamera”
},
{
“name”: “realsense_pose”,
“type”: “isaac::alice::PoseInitializer”
},
{
“name”: “depth_viewer”,
“type”: “isaac::viewers::DepthCameraViewer”
},
{
“name”: “color_viewer”,
“type”: “isaac::viewers::ColorCameraViewer”
}
]
},
{
“name”: “image_flattening”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “isaac.rgbd_processing.DepthImageFlattening”,
“type”: “isaac::rgbd_processing::DepthImageFlattening”
},
{
“name”: “isaac.alice.Throttle”,
“type”: “isaac::alice::Throttle”
},
{
“name”: “FlatscanViewer”,
“type”: “isaac::viewers::FlatscanViewer”
}
]
}
],
“edges”: [
{
“source”: “ydlidar/driver/flatscann”,
“target”: “clflatscan_node/clflatscan_component/flatscan”
},
{
“source”: “ydlidar/driver/flatscan”,
“target”: “viewers/FlatscanViewer/flatscan”
},
{
“source”: “camera/realsense/depth”,
“target”: “camera/depth_viewer/depth_listener”
},
{
“source”: “camera/realsense/color”,
“target”: “camera/color_viewer/color_listener”
},
{
“source”: “camera/realsense/depth”,
“target”: “image_flattening/isaac.alice.Throttle/input”
},
{
“source”: “image_flattening/isaac.alice.Throttle/output”,
“target”: “image_flattening/isaac.rgbd_processing.DepthImageFlattening/depth”
},
{
“source”: “image_flattening/isaac.rgbd_processing.DepthImageFlattening/flatscan”,
“target”: “clflatscan_node/clflatscan_component/flatscan”
},
{
“source”: “image_flattening/isaac.rgbd_processing.DepthImageFlattening/flatscan”,
“target”: “clflatscan_node/clflatscan_component/flatscan”
}
]
},
“config”: {
“ydlidar”: {
“driver”: {
“device”: “/dev/ttyUSB0”,
“tick_period”: “100ms”
},
“lidar_initializer”: {
“lhs_frame”: “robot”,
“rhs_frame”: “lidar”,
“disable_failure”: true,
“pose”: [
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
“camera”: {
“realsense”: {
“rows”: 480,
“cols”: 848,
“rgb_framerate”: 30,
“depth_framerate”: 30,
“ir_framerate”: 30,
“enable_ir_stereo”: true,
“frame_queue_size”: 2,
“auto_exposure_priority”: false
},
“realsense_pose”: {
“lhs_frame”: “robot”,
“rhs_frame”: “camera”,
“pose”: {
“rotation”: {
“roll_degrees”: -180.0,
“pitch_degrees”: 70.0,
“yaw_degrees”: 90.0
},
“translation”: [
0.08,
0.04,
0.17
]
}
},
“depth_viewer”: {
“camera_name”: “camera”,
“max_visualization_depth”: 6
},
“color_viewer”: {
“camera_name”: “camera”
}
},
“image_flattening”: {
“isaac.rgbd_processing.DepthImageFlattening”: {
“min_distance”: 0.1,
“max_distance”: 12,
“height_min”: 0.08,
“height_max”: 0.20,
“ground_frame”: “robot”,
“camera_frame”: “camera”,
“range_delta”: 0.015,
“sector_delta”: 0.008
},
“isaac.alice.Throttle”: {
“data_channel”: “input”,
“output_channel”: “output”,
“minimum_interval”: 0.1,
“use_signal_channel”: false
},
“FlatscanViewer”: {
“flatscan_frame”: “robot”
}
},
“clflatscan_node”: {
“clflatscan_component”: {
“debugmsg”: true,
“detectobstacle”: true,
“scanangle_left”: 360.0,
“scanangle_right”: 360.0,
“minrange”: 1.2
}
},
“websight”: {
“WebsightServer”: {
“ui_config”: {
“windows”: {
“Lidar: Samples Per Tick”: {
“renderer”: “plot”,
“dims”: {
“width”: 1024,
“height”: 200
},
“channels”: [
{
“name”: “lidar/ydlidar/driver/samples_count”
},
{
“name”: “lidar/ydlidar/driver/arc_measured”
}
]
}
}
}
}
}
}
}