About rplidar A1 scan_mode [closed]
Hi guys, I'm now using slamtec rplidar A1, and I found the default scanning mode is 2k per second, I want to change it to 8k per second(which is the highest), then I try to change the scan_mode(Boost) in launch file but still can not changed to 8k(problems show up). Is there anyone have idea about changing rplidar scanning mode? Thanks in advance!!
launch file I used
launch>
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
<param name="scan_mode" type="string" value="Boost"/> (this line is what a add)
<param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
<!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
</node>
</launch>
Below is the problem when I change the mode
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/scan_mode: Boost
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
NODES
/
rplidarNode (rplidar_ros/rplidarNode)
rplidarNodeClient (rplidar_ros/rplidarNodeClient)
ROS_MASTER_URI=http://raspberrypi:11311
process[rplidarNode-1]: started with pid [24391]
process[rplidarNodeClient-2]: started with pid [24392]
[ INFO] [1538553418.504361770]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.9.0
RPLIDAR S/N: 76BD9AF2C1EA98D4BEEB9CF0F96E3517
[ INFO] [1538553421.027498589]: Firmware Ver: 1.25
[ INFO] [1538553421.027960621]: Hardware Rev: 5
[ INFO] [1538553421.030662288]: RPLidar health status : 0
[ INFO] [1538553421.709055214]: current scan mode: Boost, max_distance: 12.0 m, Point number: 8.0K , angle_compensate: 2
[ INFO] [1538553422.339213324]: I heard a laser scan laser[0]:
[ INFO] [1538553422.339734158]: angle_range, -178.999983, 180.000005
[rplidarNode-1] process has died [pid 24391, exit code -11, cmd /opt/ros/kinetic/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/pi/.ros/log/74bcc8e6-c6e1-11e8-811b-b827ebced5ec/rplidarNode-1.log].
log file: /home/pi/.ros/log/74bcc8e6-c6e1-11e8-811b-b827ebced5ec/rplidarNode-1*.log
^C[rplidarNodeClient-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Can you please post the launch file in which you've tried to do this. We can't really help you otherwise.
I post launch file and the problem, thanks
Where did you get the "Boost" value from? In the source I can only find "Standard" and "Express"
uhm...I guess scan_mode is only for A3
@Humpelstilzchen but I use this company's desktop software which I download from their website, the lidar can change the mode by clicking the button in software(Standard(2k) Express(4k) Boost(8k))
I've just had a look at the source code for the node. It should display an error if you try and specify an unsupported mode, give this a try to test if you want. So it looks like 'Boost' is a valid mode but it's crashing the driver when selected.
It may be and idea to get in touch with Slamtec directly and report this to them, they will know more than any of us here.
Assuming "Boost" is valid, could it be a known issue?