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ROS 中Tim561激光雷达的参数配置

人工智能 robinvista 2026次浏览 0个评论

1 ROS驱动

  在ROS中没有直接的Tim561驱动,一般是修改自sick_tim包中的Tim551,但是Tim551与Tim561参数不同(Tim561的角度分辨率是0.33°,而Tim551是1°),我们要检验一下有没有问题。

ROS 中Tim561激光雷达的参数配置

  在ROS中,激光雷达消息scan数据如下,该传感器主要返回两类数据:距离值ranges和反射强度值intensities

header: 
  seq: 4103
  stamp: 
    secs: 1569397206
    nsecs: 998748541
  frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.35619449615
angle_increment: 0.0174532923847
time_increment: 6.17219993728e-05
scan_time: 0.0666666701436
range_min: 0.0500000007451
range_max: 10.0
ranges: [0.06199999898672104, 0.0560000017285347, 0.057999998331069946, 0.057999998331069946, 0.05999999865889549, 0.05999999865889549, 0.04899999871850014, 0.04699999839067459, 0.04899999871850014, 0.052000001072883606, 0.05400000140070915, 0.05900000035762787, 0.04899999871850014, 0.052000001072883606, 0.04699999839067459, 0.050999999046325684, 0.052000001072883606, 0.05299999937415123, 0.057999998331069946, 0.06199999898672104, 0.06199999898672104, 0.06700000166893005, 0.06199999898672104, 0.057999998331069946, 0.054999999701976776, 0.05299999937415123, 0.050999999046325684, 0.05299999937415123, 0.05000000074505806, 0.05700000002980232, 0.05000000074505806, 0.05000000074505806, 0.05400000140070915, 0.050999999046325684, 0.05400000140070915, 0.052000001072883606, 0.06400000303983688, 0.057999998331069946, 0.04899999871850014, 0.05299999937415123, 0.054999999701976776, 0.05000000074505806, 0.05400000140070915, 0.050999999046325684, 0.05299999937415123, 0.05000000074505806, 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intensities: [147.0, 154.0, 147.0, 147.0, 151.0, 163.0, 163.0, 169.0, 175.0, 178.0, 178.0, 181.0, 178.0, 181.0, 178.0, 181.0, 185.0, 185.0, 185.0, 188.0, 188.0, 191.0, 191.0, 188.0, 191.0, 188.0, 188.0, 188.0, 185.0, 191.0, 185.0, 185.0, 188.0, 185.0, 188.0, 185.0, 191.0, 188.0, 185.0, 188.0, 185.0, 185.0, 185.0, 185.0, 188.0, 185.0, 188.0, 181.0, 185.0, 181.0, 181.0, 181.0, 181.0, 181.0, 185.0, 181.0, 181.0, 181.0, 181.0, 181.0, 175.0, 175.0, 175.0, 172.0, 166.0, 160.0, 160.0, 163.0, 157.0, 163.0, 163.0, 163.0, 163.0, 160.0, 163.0, 160.0, 163.0, 166.0, 163.0, 163.0, 163.0, 160.0, 160.0, 157.0, 160.0, 157.0, 151.0, 144.0, 147.0, 147.0, 157.0, 154.0, 151.0, 154.0, 163.0, 144.0, 147.0, 154.0, 147.0, 154.0, 147.0, 151.0, 154.0, 154.0, 154.0, 154.0, 151.0, 154.0, 151.0, 154.0, 157.0, 157.0, 163.0, 163.0, 163.0, 163.0, 163.0, 166.0, 163.0, 172.0, 172.0, 175.0, 175.0, 175.0, 172.0, 172.0, 169.0, 166.0, 163.0, 169.0, 163.0, 160.0, 160.0, 160.0, 157.0, 157.0, 154.0, 154.0, 157.0, 154.0, 157.0, 151.0, 157.0, 151.0, 151.0, 151.0, 151.0, 151.0, 147.0, 151.0, 147.0, 141.0, 144.0, 141.0, 141.0, 141.0, 141.0, 141.0, 141.0, 138.0, 135.0, 135.0, 132.0, 132.0, 129.0, 126.0, 126.0, 101.0, 117.0, 129.0, 126.0, 129.0, 126.0, 126.0, 120.0, 114.0, 120.0, 114.0, 114.0, 123.0, 117.0, 107.0, 114.0, 110.0, 110.0, 114.0, 114.0, 110.0, 114.0, 117.0, 117.0, 114.0, 114.0, 92.0, 169.0, 191.0, 188.0, 188.0, 135.0, 175.0, 194.0, 200.0, 188.0, 191.0, 194.0, 92.0, 160.0, 206.0, 194.0, 185.0, 181.0, 175.0, 138.0, 175.0, 163.0, 166.0, 163.0, 147.0, 123.0, 141.0, 52.0, 73.0, 98.0, 92.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 92.0, 132.0, 92.0, 110.0, 138.0, 39.0, 0.0, 0.0, 0.0, 83.0, 33.0, 43.0, 129.0, 129.0, 132.0, 135.0, 138.0, 132.0, 126.0, 114.0, 120.0, 120.0, 89.0, 154.0, 144.0, 163.0, 151.0, 169.0, 178.0, 175.0, 144.0, 169.0, 166.0, 80.0, 83.0]

  我们发现,角度分辨率angle_increment是0.0174532923847 rad = 1°,这明显与官方描述的0.33°不一致,因此要修改。我们只需要对传感器恢复出厂设置即可,操作很简单,在官方的调试软件SOPAS中用授权的用户与client密码登陆后单击如下图所示的选项即可。ROS 中Tim561激光雷达的参数配置

  修改后的数据如下,分辨率已改正(angle_increment:0.005817 rad = 0.33°),但是我们发现反射强度值intensities怎么没了。

header: 
  seq: 868
  stamp: 
    secs: 1569457330
    nsecs: 399227381
  frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.35572338104
angle_increment: 0.00581718236208
time_increment: 6.17219993728e-05
scan_time: 0.0666666701436
range_min: 0.0500000007451
range_max: 10.0
ranges: [0.020999999716877937, 0.023000000044703484, 0.032999999821186066, 0.04699999839067459, 0.05900000035762787, 0.06599999964237213, 0.08100000023841858, 0.08399999886751175, 0.09099999815225601, 0.09300000220537186, 0.09600000083446503, 0.09399999678134918, 0.09000000357627869, 0.08900000154972076, 0.0820000022649765, 0.07800000160932541, 0.07400000095367432, 0.07500000298023224, 0.07199999690055847, 0.06800000369548798, 0.06400000303983688, 0.06199999898672104, 0.0560000017285347, 0.057999998331069946, 0.050999999046325684, 0.06400000303983688, 0.05000000074505806, 0.057999998331069946, 0.06800000369548798, 0.05700000002980232, 0.0560000017285347, 0.06199999898672104, 0.05900000035762787, 0.04600000008940697, 0.050999999046325684, 0.052000001072883606, 0.04899999871850014, 0.050999999046325684, 0.04600000008940697, 0.0430000014603138, 0.0430000014603138, 0.050999999046325684, 0.041999999433755875, 0.05299999937415123, 0.04800000041723251, 0.04800000041723251, 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intensities: []

  原因是我们没有选择,还是在官方的配置软件中,勾选RSSI,然后再在上面的菜单栏中选择Parameter,并save permanently即可。

ROS 中Tim561激光雷达的参数配置

  修改后我们再试就发现有反射强度值intensities了。

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104.0, 95.0, 95.0, 98.0, 95.0, 89.0, 89.0, 92.0, 86.0, 83.0, 83.0, 73.0, 76.0, 76.0, 64.0, 52.0, 46.0, 46.0, 43.0, 36.0, 30.0, 21.0, 27.0, 18.0, 21.0, 12.0, 0.0, 0.0, 0.0, 0.0, 0.0, 21.0, 21.0, 30.0, 27.0, 30.0, 30.0, 30.0, 27.0, 33.0, 27.0, 24.0, 27.0, 27.0, 24.0, 33.0, 30.0, 27.0, 24.0, 33.0, 27.0, 21.0, 33.0, 24.0, 24.0, 24.0, 21.0, 0.0, 0.0, 21.0, 18.0, 0.0, 18.0, 0.0, 0.0]

  如果想读取激光雷达的配置参数,可以使用以下指令:

<STX>sRN LMPscancfg<ETX>

  传感器的返回值如下图所示

ROS 中Tim561激光雷达的参数配置

  其含义[1]是:

5DC:扫描频率15Hz
D05:角度分辨率0.333°
1:第一个Sector
FFF92230:起始角度-45°
225510:终止角度225°

  起始角度我们直接用默认值即可,因为Sick对角度的规定如下图。在ROS中,起始角度是可以设置的,但是我们也不用改,使用默认即可,也就是angle_min: -2.35619449615 angle_max: 2.35572338104,可能ROS中的0°是Sick中的90°。

ROS 中Tim561激光雷达的参数配置

2 有线网和WIFI共用

  Tim561的默认IP地址一般是192.168.0.1,我们最好改一下,因为一般无线路由器自动分配的网段也是192.168.0.X,这就冲突了。如果我们想在ubuntu 中同时连接WiFi和Tim561,那么会导致无法使用WiFi上外网,因为有线的优先级更高,上网请求都发给了Tim561。即使你按照网上的教程,例如这篇,将WiFi的网关设置成默认网关也不行,因为Tim561和WiFi还是在同一网段内。

  给Tim561修改IP的方法如下,在官方配置软件SopasET中,右键传感器图标选择“更改IP地址”,然后设置即可。这里我改为了192.168.33.5,具体是多少无所谓,只要不和无线路由器的一样就行。

ROS 中Tim561激光雷达的参数配置

 修改完Tim561的IP地址后,别忘了将主机的IP地址也得改为同一网段才可以连接,如下。

ROS 中Tim561激光雷达的参数配置

 然后我们就既可以使用WiFi上网也可以使用Tim561传感器了,见下图。

ROS 中Tim561激光雷达的参数配置

[1] Telegram Listing Ranging sensors LMS1xx, LMS5xx, TiM5xx, TiM7xx, LMS1000, MRS1000, MRS6000, NAV310, LD-OEM15xx, LD-LRS36xx,4.2.2节,24页


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