• 欢迎访问开心洋葱网站,在线教程,推荐使用最新版火狐浏览器和Chrome浏览器访问本网站,欢迎加入开心洋葱 QQ群
  • 为方便开心洋葱网用户,开心洋葱官网已经开启复制功能!
  • 欢迎访问开心洋葱网站,手机也能访问哦~欢迎加入开心洋葱多维思维学习平台 QQ群
  • 如果您觉得本站非常有看点,那么赶紧使用Ctrl+D 收藏开心洋葱吧~~~~~~~~~~~~~!
  • 由于近期流量激增,小站的ECS没能经的起亲们的访问,本站依然没有盈利,如果各位看如果觉着文字不错,还请看官给小站打个赏~~~~~~~~~~~~~!

ROS 中Tim561激光雷达的参数配置

人工智能 robinvista 2061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, 0.0560000017285347, 0.05000000074505806, 0.05400000140070915, 0.05000000074505806, 0.050999999046325684, 0.05299999937415123, 0.052000001072883606, 0.050999999046325684, 0.05900000035762787, 0.054999999701976776, 0.057999998331069946, 0.061000000685453415, 0.061000000685453415, 0.06300000101327896, 0.05700000002980232, 0.054999999701976776, 0.06400000303983688, 0.061000000685453415, 0.06300000101327896, 0.0560000017285347, 0.06199999898672104, 0.06700000166893005, 0.06400000303983688, 0.06700000166893005, 0.0689999982714653, 0.06800000369548798, 0.06499999761581421, 0.07000000029802322, 0.07000000029802322, 0.06800000369548798, 0.07100000232458115, 0.07400000095367432, 0.0729999989271164, 0.07100000232458115, 0.07699999958276749, 0.07699999958276749, 0.07100000232458115, 0.07400000095367432, 0.07500000298023224, 0.07800000160932541, 0.08500000089406967, 0.07699999958276749, 0.07900000363588333, 0.08399999886751175, 0.08399999886751175, 0.07900000363588333, 0.08299999684095383, 0.09700000286102295, 1.8459999561309814, 3.0, 2.9760000705718994, 2.9549999237060547, 2.927000045776367, 2.9049999713897705, 2.882999897003174, 2.864000082015991, 2.8420000076293945, 2.822999954223633, 2.809000015258789, 2.7939999103546143, 2.7739999294281006, 2.759999990463257, 2.749000072479248, 2.73799991607666, 2.7279999256134033, 2.7170000076293945, 2.7060000896453857, 2.7039999961853027, 2.694999933242798, 2.684000015258789, 2.677000045776367, 2.677000045776367, 2.6700000762939453, 2.6640000343322754, 2.6640000343322754, 2.671999931335449, 2.6649999618530273, 2.6700000762939453, 2.6659998893737793, 2.6700000762939453, 2.6710000038146973, 2.6700000762939453, 2.674999952316284, 2.686000108718872, 2.684999942779541, 2.694000005722046, 2.7049999237060547, 2.7119998931884766, 2.7200000286102295, 2.7360000610351562, 2.740999937057495, 2.756999969482422, 2.7709999084472656, 2.7839999198913574, 2.803999900817871, 2.815999984741211, 2.8359999656677246, 2.8559999465942383, 2.871999979019165, 2.8940000534057617, 2.9149999618530273, 2.937999963760376, 2.9639999866485596, 2.990000009536743, 3.0169999599456787, 3.0409998893737793, 3.072999954223633, 3.1029999256134033, 3.134999990463257, 3.1689999103546143, 3.2079999446868896, 3.24399995803833, 3.2839999198913574, 3.3239998817443848, 3.365999937057495, 3.4110000133514404, 3.4579999446868896, 3.50600004196167, 3.556999921798706, 3.609999895095825, 3.6710000038146973, 4.198999881744385, 4.368000030517578, 4.396999835968018, 4.376999855041504, 4.334000110626221, 4.380000114440918, 4.401000022888184, 4.357999801635742, 5.035999774932861, 5.103000164031982, 5.038000106811523, 5.019999980926514, 5.031000137329102, 4.991000175476074, 6.4120001792907715, 6.3460001945495605, 6.230000019073486, 6.173999786376953, 6.1529998779296875, 6.131999969482422, 6.113999843597412, 6.10099983215332, 6.085000038146973, 6.074999809265137, 6.13700008392334, 6.109000205993652, 2.6440000534057617, 0.921999990940094, 0.9480000138282776, 0.9660000205039978, 0.9890000224113464, 0.9120000004768372, 0.8640000224113464, 0.8709999918937683, 0.8920000195503235, 0.9010000228881836, 0.8899999856948853, 0.8889999985694885, 0.9520000219345093, 0.8180000185966492, 0.7369999885559082, 0.7369999885559082, 0.7429999709129333, 0.7620000243186951, 0.7900000214576721, 1.0839999914169312, 1.2860000133514404, 1.3079999685287476, 1.2999999523162842, 1.3140000104904175, 1.1330000162124634, 1.1829999685287476, 1.5820000171661377, 1.5540000200271606, 1.3359999656677246, 1.1649999618530273, 1.055999994277954, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.4000000059604645, 0.40400001406669617, 0.3869999945163727, 0.38999998569488525, 0.3919999897480011, 5.9120001792907715, inf, inf, inf, 5.158999919891357, 5.000999927520752, 4.867000102996826, 3.4040000438690186, 3.367000102996826, 3.3289999961853027, 3.2980000972747803, 3.263000011444092, 3.2339999675750732, 3.1989998817443848, 3.2200000286102295, 3.3329999446868896, 3.4170000553131104, 1.0540000200271606, 1.0390000343322754, 1.0119999647140503, 1.003999948501587, 1.0010000467300415, 1.0, 0.9940000176429749, 1.003000020980835, 1.0219999551773071, 1.0479999780654907, 1.0529999732971191, 3.255000114440918, 3.246000051498413]
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, 0.04699999839067459, 0.061000000685453415, 0.04699999839067459, 0.052000001072883606, 0.052000001072883606, 0.04899999871850014, 0.05299999937415123, 0.057999998331069946, 0.05999999865889549, 0.05299999937415123, 0.05299999937415123, 0.054999999701976776, 0.050999999046325684, 0.054999999701976776, 0.05700000002980232, 0.05700000002980232, 0.06300000101327896, 0.06400000303983688, 0.057999998331069946, 0.050999999046325684, 0.057999998331069946, 0.05299999937415123, 0.05299999937415123, 0.05299999937415123, 0.04899999871850014, 0.05700000002980232, 0.06800000369548798, 0.0560000017285347, 0.057999998331069946, 0.06199999898672104, 0.05999999865889549, 0.05400000140070915, 0.06300000101327896, 0.05299999937415123, 0.05999999865889549, 0.05999999865889549, 0.06400000303983688, 0.054999999701976776, 0.05700000002980232, 0.05900000035762787, 0.052000001072883606, 0.05900000035762787, 0.050999999046325684, 0.05299999937415123, 0.054999999701976776, 0.050999999046325684, 0.05999999865889549, 0.061000000685453415, 0.057999998331069946, 0.057999998331069946, 0.057999998331069946, 0.054999999701976776, 0.05900000035762787, 0.05900000035762787, 0.05000000074505806, 0.0560000017285347, 0.06400000303983688, 0.057999998331069946, 0.05000000074505806, 0.06199999898672104, 0.0560000017285347, 0.05400000140070915, 0.0560000017285347, 0.054999999701976776, 0.05299999937415123, 0.0560000017285347, 0.05400000140070915, 0.0560000017285347, 0.06599999964237213, 0.050999999046325684, 0.05900000035762787, 0.05999999865889549, 0.05999999865889549, 0.05000000074505806, 0.06499999761581421, 0.0560000017285347, 0.05299999937415123, 0.057999998331069946, 0.06199999898672104, 0.057999998331069946, 0.04800000041723251, 0.054999999701976776, 0.05400000140070915, 0.061000000685453415, 0.06199999898672104, 0.05299999937415123, 0.05299999937415123, 0.052000001072883606, 0.06700000166893005, 0.05000000074505806, 0.0560000017285347, 0.061000000685453415, 0.05400000140070915, 0.0560000017285347, 0.0560000017285347, 0.05900000035762787, 0.04800000041723251, 0.04699999839067459, 0.06199999898672104, 0.057999998331069946, 0.052000001072883606, 0.052000001072883606, 0.0560000017285347, 0.050999999046325684, 0.05700000002980232, 0.057999998331069946, 0.06499999761581421, 0.05900000035762787, 0.05700000002980232, 0.054999999701976776, 0.054999999701976776, 0.050999999046325684, 0.06400000303983688, 0.06300000101327896, 0.05700000002980232, 0.061000000685453415, 0.05900000035762787, 0.06400000303983688, 0.052000001072883606, 0.05299999937415123, 0.05999999865889549, 0.06400000303983688, 0.05700000002980232, 0.04899999871850014, 0.06199999898672104, 0.05900000035762787, 0.05900000035762787, 0.06499999761581421, 0.06499999761581421, 0.061000000685453415, 0.06800000369548798, 0.05700000002980232, 0.057999998331069946, 0.07000000029802322, 0.06499999761581421, 0.05999999865889549, 0.07000000029802322, 0.0689999982714653, 0.06800000369548798, 0.06400000303983688, 0.06700000166893005, 0.0729999989271164, 0.0689999982714653, 0.0729999989271164, 0.07800000160932541, 0.08299999684095383, 0.0860000029206276, 0.09000000357627869, 0.09700000286102295, 0.10000000149011612, 0.10100000351667404, 0.09700000286102295, 0.09399999678134918, 0.09200000017881393, 0.09000000357627869, 0.08399999886751175, 0.07999999821186066, 0.07900000363588333, 0.07999999821186066, 0.07400000095367432, 0.07699999958276749, 0.07000000029802322, 0.07000000029802322, 0.0689999982714653, 0.07000000029802322, 0.0689999982714653, 0.07100000232458115, 0.0689999982714653, 0.0689999982714653, 0.0689999982714653, 0.06700000166893005, 0.06800000369548798, 0.06800000369548798, 0.06800000369548798, 0.06800000369548798, 0.06700000166893005, 0.07000000029802322, 0.07000000029802322, 0.07100000232458115, 0.07100000232458115, 0.07400000095367432, 0.07400000095367432, 0.07699999958276749, 0.07599999755620956, 0.07900000363588333, 0.07900000363588333, 0.08299999684095383, 0.08500000089406967, 0.0820000022649765, 0.08500000089406967, 0.0860000029206276, 0.0860000029206276, 0.08699999749660492, 0.08299999684095383, 0.08399999886751175, 0.08299999684095383, 0.08399999886751175, 0.08699999749660492, 0.08500000089406967, 0.09200000017881393, 0.0989999994635582, 0.09799999743700027, 0.09600000083446503, 0.09700000286102295, 0.07900000363588333, 0.04500000178813934, 0.02800000086426735, 0.026000000536441803, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, inf, inf, inf, inf, 1.2929999828338623, 1.2860000133514404, 2.9149999618530273, 2.9089999198913574, 2.9019999504089355, 2.8959999084472656, 2.885999917984009, 2.882999897003174, 2.878000020980835, 2.868000030517578, 2.859999895095825, 2.8570001125335693, 2.8499999046325684, 2.8440001010894775, 2.8359999656677246, 2.8299999237060547, 2.8259999752044678, 2.821000099182129, 2.812999963760376, 2.806999921798706, 2.805000066757202, 2.7980000972747803, 2.7899999618530273, 2.7880001068115234, 2.7809998989105225, 2.7809998989105225, 2.7739999294281006, 2.7690000534057617, 2.7669999599456787, 2.759999990463257, 2.75600004196167, 2.75600004196167, 2.755000114440918, 2.752000093460083, 2.740999937057495, 2.740000009536743, 2.7339999675750732, 2.734999895095825, 2.7269999980926514, 2.7249999046325684, 2.7209999561309814, 2.7149999141693115, 2.7130000591278076, 2.7109999656677246, 2.7130000591278076, 2.7060000896453857, 2.7049999237060547, 2.700000047683716, 2.697999954223633, 2.697999954223633, 2.697999954223633, 2.687999963760376, 2.690000057220459, 2.7009999752044678, 2.697000026702881, 2.681999921798706, 2.687999963760376, 2.687999963760376, 2.693000078201294, 2.684000015258789, 2.687000036239624, 2.6760001182556152, 2.680999994277954, 2.678999900817871, 2.677000045776367, 2.6730000972747803, 2.684000015258789, 2.680000066757202, 2.6710000038146973, 2.6730000972747803, 2.674999952316284, 2.677000045776367, 2.680000066757202, 2.683000087738037, 2.6740000247955322, 2.674999952316284, 2.677999973297119, 2.687999963760376, 2.687999963760376, 2.674999952316284, 2.678999900817871, 2.677999973297119, 2.680999994277954, 2.683000087738037, 2.680999994277954, 2.680999994277954, 2.687000036239624, 2.690000057220459, 2.690000057220459, 2.696000099182129, 2.690000057220459, 2.687999963760376, 2.693000078201294, 2.7039999961853027, 2.7070000171661377, 2.7060000896453857, 2.7009999752044678, 2.7019999027252197, 2.7109999656677246, 2.7119998931884766, 2.7149999141693115, 2.7170000076293945, 2.7190001010894775, 2.7249999046325684, 2.7239999771118164, 2.7300000190734863, 2.7339999675750732, 2.734999895095825, 2.739000082015991, 2.74399995803833, 2.747999906539917, 2.750999927520752, 2.755000114440918, 2.756999969482422, 2.765000104904175, 2.7679998874664307, 2.7699999809265137, 2.7750000953674316, 2.7820000648498535, 2.7850000858306885, 2.7890000343322754, 2.796999931335449, 2.8010001182556152, 2.805999994277954, 2.812999963760376, 2.813999891281128, 2.8239998817443848, 2.825000047683716, 2.8359999656677246, 2.8380000591278076, 2.8459999561309814, 2.8499999046325684, 2.8570001125335693, 2.865000009536743, 2.867000102996826, 2.875, 2.878999948501587, 2.888000011444092, 2.8889999389648438, 2.9000000953674316, 2.9089999198913574, 2.9140000343322754, 2.9210000038146973, 2.930999994277954, 2.937000036239624, 2.947999954223633, 2.9570000171661377, 2.9609999656677246, 2.9739999771118164, 2.9820001125335693, 2.986999988555908, 3.0, 3.00600004196167, 3.0160000324249268, 3.0250000953674316, 3.0320000648498535, 3.0439999103546143, 3.052000045776367, 3.061000108718872, 3.069000005722046, 3.078000068664551, 3.0889999866485596, 3.0989999771118164, 3.1110000610351562, 3.121999979019165, 3.132999897003174, 3.1429998874664307, 3.1530001163482666, 3.1679999828338623, 3.174999952316284, 3.188999891281128, 3.203000068664551, 3.2100000381469727, 3.2320001125335693, 3.243000030517578, 3.253000020980835, 3.2660000324249268, 3.2780001163482666, 3.2909998893737793, 3.306999921798706, 3.319999933242798, 3.328000068664551, 3.3480000495910645, 3.364000082015991, 3.375999927520752, 3.390000104904175, 3.4089999198913574, 3.421999931335449, 3.441999912261963, 3.4560000896453857, 3.4709999561309814, 3.4820001125335693, 3.494999885559082, 3.5169999599456787, 3.5329999923706055, 3.552999973297119, 3.565999984741211, 3.5880000591278076, 3.6070001125335693, 3.625999927520752, 3.6449999809265137, 3.6649999618530273, 3.681999921798706, 3.7049999237060547, 3.7739999294281006, 4.209000110626221, 4.327000141143799, 4.35099983215332, 4.376999855041504, 4.40500020980835, 4.421999931335449, 4.401000022888184, 4.388999938964844, 4.389999866485596, 4.381999969482422, 4.375999927520752, 4.36299991607666, 4.3480000495910645, 4.335999965667725, 4.353000164031982, 4.374000072479248, 4.408999919891357, 4.426000118255615, 4.418000221252441, 4.39300012588501, 4.370999813079834, 4.354000091552734, 4.382999897003174, 4.921000003814697, 5.0289998054504395, 5.065000057220459, 5.107999801635742, 5.125, 5.109000205993652, 5.079999923706055, 5.065000057220459, 5.035999774932861, 5.013000011444092, 5.010000228881836, 5.046000003814697, 5.061999797821045, 5.047999858856201, 5.0229997634887695, 5.00600004196167, 4.986999988555908, 4.8520002365112305, 6.454999923706055, 6.428999900817871, 6.4079999923706055, 6.382999897003174, 6.36299991607666, 6.339000225067139, 6.295000076293945, 6.260000228881836, 6.205999851226807, 6.178999900817871, 6.171999931335449, 6.160999774932861, 6.150000095367432, 6.138999938964844, 6.130000114440918, 6.117000102996826, 6.110000133514404, 6.099999904632568, 6.086999893188477, 6.080999851226807, 6.071000099182129, 6.061999797821045, 6.051000118255615, 6.046000003814697, 6.038000106811523, 6.031000137329102, 6.021999835968018, 6.007999897003174, 6.006999969482422, 6.021999835968018, 6.1479997634887695, 6.1579999923706055, 6.14900016784668, 6.127999782562256, 6.116000175476074, 6.104000091552734, 2.6610000133514404, 0.0020000000949949026, 0.9229999780654907, 0.9290000200271606, 0.9380000233650208, 0.9430000185966492, 0.9480000138282776, 0.9509999752044678, 0.9649999737739563, 0.9700000286102295, 0.9789999723434448, 0.984000027179718, 1.0, 0.9800000190734863, 0.902999997138977, 0.8799999952316284, 0.871999979019165, 0.8550000190734863, 0.8640000224113464, 0.8619999885559082, 0.8659999966621399, 0.875, 0.8799999952316284, 0.8939999938011169, 0.9120000004768372, 0.8999999761581421, 0.906000018119812, 0.8970000147819519, 0.8949999809265137, 0.9020000100135803, 0.9079999923706055, 0.8999999761581421, 0.8930000066757202, 0.8999999761581421, 0.9120000004768372, 0.0020000000949949026, 1.0859999656677246, 0.8510000109672546, 0.8119999766349792, 0.753000020980835, 0.7250000238418579, 0.7279999852180481, 0.7250000238418579, 0.7269999980926514, 0.722000002861023, 0.7329999804496765, 0.7319999933242798, 0.7429999709129333, 0.7570000290870667, 0.7599999904632568, 0.7749999761581421, 0.7799999713897705, 0.7820000052452087, 0.7960000038146973, 0.8349999785423279, 1.0850000381469727, 1.3170000314712524, 1.309999942779541, 1.305999994277954, 1.309999942779541, 1.3109999895095825, 1.3270000219345093, 1.3639999628067017, 1.3370000123977661, 1.3140000104904175, 1.3140000104904175, 1.2979999780654907, 1.3109999895095825, 1.3209999799728394, 1.309999942779541, 1.156000018119812, 1.034000039100647, 1.1150000095367432, 1.2680000066757202, inf, inf, inf, 0.0729999989271164, 0.0020000000949949026, inf, 0.13699999451637268, 0.1599999964237213, 0.16200000047683716, 0.16200000047683716, 0.1599999964237213, 0.15800000727176666, 0.15700000524520874, 0.15399999916553497, 0.15600000321865082, 0.15399999916553497, 0.15299999713897705, 0.15299999713897705, 0.14900000393390656, 0.15199999511241913, 0.15299999713897705, 0.14800000190734863, 0.14800000190734863, 0.1469999998807907, 0.1469999998807907, 0.14800000190734863, 0.14499999582767487, 0.14499999582767487, 0.14300000667572021, 0.14499999582767487, 0.1420000046491623, 0.14499999582767487, 0.1469999998807907, 0.1459999978542328, 0.13899999856948853, 0.14499999582767487, 0.1469999998807907, 0.13899999856948853, 0.14800000190734863, 0.14300000667572021, 0.1469999998807907, 0.1420000046491623, 0.14499999582767487, 0.1459999978542328, 0.1420000046491623, 0.14100000262260437, 0.14100000262260437, 0.14300000667572021, 0.1459999978542328, 0.14100000262260437, 0.1459999978542328, 0.14800000190734863, 0.14399999380111694, 0.14399999380111694, 0.14499999582767487, 0.1459999978542328, 0.14800000190734863, 0.14800000190734863, 0.1459999978542328, 0.14900000393390656, 0.15399999916553497, 0.14900000393390656, 0.14900000393390656, 0.1509999930858612, 0.15199999511241913, 0.15299999713897705, 0.15700000524520874, 0.15800000727176666, 0.15600000321865082, 0.1599999964237213, 0.16200000047683716, 0.1599999964237213, 0.16099999845027924, 0.15700000524520874, 0.1599999964237213, 0.1599999964237213, 0.16099999845027924, 0.1420000046491623, inf, inf, inf, 5.1620001792907715, 5.15500020980835, 5.1579999923706055, 5.111999988555908, 5.038000106811523, 4.994999885559082, 4.935999870300293, 4.888000011444092, 4.855999946594238, 3.3959999084472656, 3.4049999713897705, 3.3919999599456787, 3.378999948501587, 3.365000009536743, 3.3540000915527344, 3.3450000286102295, 3.3299999237060547, 3.319999933242798, 3.308000087738037, 3.2980000972747803, 3.2829999923706055, 3.2739999294281006, 3.260999917984009, 3.255000114440918, 3.242000102996826, 3.2320001125335693, 3.2269999980926514, 3.2139999866485596, 3.203000068664551, 3.190999984741211, 1.4700000286102295, 1.0820000171661377, 1.0640000104904175, 1.0820000171661377, 1.069000005722046, 1.0420000553131104, 1.034999966621399, 1.0369999408721924, 1.0190000534057617, 1.0069999694824219, 1.0110000371932983, 0.9959999918937683, 0.9990000128746033, 0.9900000095367432, 0.9760000109672546, 0.9760000109672546, 0.9750000238418579, 0.9769999980926514, 0.9750000238418579, 0.9789999723434448, 0.9729999899864197, 0.9869999885559082, 0.9829999804496765, 0.9800000190734863, 0.9850000143051147, 0.984000027179718, 0.9919999837875366, 1.0019999742507935, 1.0049999952316284, 1.0130000114440918, 1.0089999437332153, 1.0080000162124634, 1.0160000324249268, 1.0140000581741333, 1.0230000019073486, 1.034999966621399, 1.2730000019073486, 3.3310000896453857, 3.3450000286102295, 3.3310000896453857, 3.309000015258789, 3.2929999828338623, 3.2769999504089355, 3.263000011444092, 3.25600004196167, 3.24399995803833, 3.2219998836517334, 3.2200000286102295, 3.2070000171661377, 3.190999984741211, 3.180000066757202, 1.5240000486373901, 1.5190000534057617, 1.5019999742507935, 1.496999979019165, 1.4819999933242798, 3.115000009536743, 1.465999960899353, 1.4550000429153442, 3.0869998931884766, 1.430999994277954, 3.058000087738037, 3.0280001163482666, 3.0169999599456787, 3.0179998874664307, 3.0190000534057617, 3.0179998874664307, 3.0360000133514404, 3.0510001182556152, 3.059000015258789, 3.1010000705718994, 3.052000045776367, 3.0360000133514404, 3.055999994277954, 3.0179998874664307, 2.9760000705718994, 2.9639999866485596, 2.9539999961853027, 2.9579999446868896, inf, inf, inf]
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。

header: 
  seq: 857
  stamp: 
    secs: 1569460628
    nsecs: 752694130
  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: [2.8310000896453857, 2.8540000915527344, 2.865000009536743, 2.884000062942505, 2.9040000438690186, 2.9079999923706055, 2.8959999084472656, 2.878000020980835, 2.86299991607666, 2.8489999771118164, 2.8329999446868896, 2.818000078201294, 2.8010001182556152, 2.7880001068115234, 2.7739999294281006, 2.759000062942505, 2.747999906539917, 2.7320001125335693, 2.7160000801086426, 2.703000068664551, 2.691999912261963, 2.680999994277954, 2.6679999828338623, 2.6549999713897705, 2.6419999599456787, 2.631999969482422, 2.619999885559082, 2.609999895095825, 2.5989999771118164, 2.5880000591278076, 2.5759999752044678, 2.568000078201294, 2.555000066757202, 2.5450000762939453, 2.5369999408721924, 2.5290000438690186, 2.5160000324249268, 2.505000114440918, 2.496000051498413, 2.490000009536743, 2.4790000915527344, 2.4719998836517334, 2.4630000591278076, 2.4509999752044678, 2.444000005722046, 2.434999942779541, 2.427000045776367, 2.4230000972747803, 2.4110000133514404, 2.4019999504089355, 2.3940000534057617, 2.388000011444092, 2.380000114440918, 2.374000072479248, 2.364000082015991, 2.3570001125335693, 2.3529999256134033, 2.3459999561309814, 2.3389999866485596, 2.3310000896453857, 2.3239998817443848, 2.316999912261963, 2.312000036239624, 2.305999994277954, 2.305000066757202, 2.2920000553131104, 2.2929999828338623, 2.2829999923706055, 2.2839999198913574, 2.2769999504089355, 2.2699999809265137, 2.26200008392334, 2.253999948501587, 2.249000072479248, 2.244999885559082, 2.242000102996826, 2.23799991607666, 2.2279999256134033, 2.2230000495910645, 2.2269999980926514, 2.2179999351501465, 2.2200000286102295, 2.2130000591278076, 2.2049999237060547, 2.2009999752044678, 2.197000026702881, 2.1989998817443848, 2.197000026702881, 2.184000015258789, 2.183000087738037, 2.184000015258789, 2.181999921798706, 2.1679999828338623, 2.171999931335449, 2.1679999828338623, 2.1700000762939453, 2.1589999198913574, 2.1659998893737793, 2.1570000648498535, 2.1589999198913574, 2.1559998989105225, 2.1649999618530273, 2.1519999504089355, 2.1489999294281006, 2.1440000534057617, 2.13700008392334, 2.138000011444092, 2.140000104904175, 2.134999990463257, 2.130000114440918, 2.125999927520752, 2.134000062942505, 2.124000072479248, 2.125999927520752, 2.121000051498413, 2.117000102996826, 2.125, 2.121999979019165, 2.122999906539917, 2.121000051498413, 2.125, 2.121999979019165, 2.1019999980926514, 2.121999979019165, 2.115999937057495, 2.1050000190734863, 2.115000009536743, 2.109999895095825, 2.117000102996826, 2.114000082015991, 2.11299991607666, 2.111999988555908, 2.109999895095825, 2.115000009536743, 2.115999937057495, 2.1050000190734863, 2.1050000190734863, 2.115000009536743, 2.109999895095825, 2.1070001125335693, 2.11299991607666, 2.115000009536743, 2.115000009536743, 2.115000009536743, 2.1110000610351562, 2.121999979019165, 2.1110000610351562, 2.115000009536743, 2.128999948501587, 2.119999885559082, 2.128000020980835, 2.115999937057495, 2.121999979019165, 2.124000072479248, 2.13100004196167, 2.127000093460083, 2.131999969482422, 2.134999990463257, 2.128000020980835, 2.131999969482422, 8.913000106811523, 1.2940000295639038, 1.2589999437332153, 1.2300000190734863, 1.2050000429153442, 1.1749999523162842, 1.149999976158142, 1.1540000438690186, 1.152999997138977, 1.1579999923706055, 1.1619999408721924, 1.1640000343322754, 1.1690000295639038, 1.1729999780654907, 1.1799999475479126, 1.1890000104904175, 1.1799999475479126, 1.1959999799728394, 1.194000005722046, 1.1990000009536743, 1.190999984741211, 1.2009999752044678, 1.2070000171661377, 1.1920000314712524, 1.1679999828338623, 1.152999997138977, 1.1430000066757202, 1.1349999904632568, 1.0499999523162842, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 2.4760000705718994, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.0020000000949949026, 0.7519999742507935, 0.7519999742507935, 0.7549999952316284, 0.7429999709129333, 0.7080000042915344, 0.6809999942779541, 0.6610000133514404, 0.5920000076293945, 0.6259999871253967, 0.671999990940094, 0.6830000281333923, 0.6779999732971191, 0.6800000071525574, 0.6690000295639038, 0.6620000004768372, 0.7360000014305115, 0.9120000004768372, 0.9409999847412109, 0.9399999976158142, 0.9120000004768372, 0.8379999995231628, 0.7609999775886536, 0.7319999933242798, 0.7099999785423279, 0.6790000200271606, 0.5889999866485596, 0.40700000524520874, 0.2529999911785126, 0.17900000512599945, 0.1589999943971634, 0.14499999582767487, 0.1589999943971634, 0.20900000631809235, 0.2939999997615814, 0.4560000002384186, 0.6050000190734863, 0.5920000076293945, 0.44200000166893005, 0.23499999940395355, 0.17100000381469727, 0.19300000369548798, 0.2199999988079071, 0.22300000488758087, 0.22699999809265137, 0.20999999344348907, 0.20100000500679016, 0.21400000154972076, 0.20900000631809235, 0.2290000021457672, 0.2329999953508377, 0.2800000011920929, 0.296999990940094, 0.3230000138282776, 0.35499998927116394, 0.39500001072883606, 0.4180000126361847, 0.5680000185966492, 0.6499999761581421, 0.6769999861717224, 0.6859999895095825, 0.6850000023841858, 0.6800000071525574, 0.6639999747276306, 0.6650000214576721, 0.6639999747276306, 0.6660000085830688, 0.6639999747276306, 0.6610000133514404, 0.6430000066757202, 0.6399999856948853, 0.6430000066757202, 0.6320000290870667, 0.6420000195503235, 0.628000020980835, 0.6259999871253967, 0.6240000128746033, 0.6179999709129333, 0.609000027179718, 0.621999979019165, 0.6069999933242798, 0.6069999933242798, 0.6019999980926514, 0.6039999723434448, 0.5950000286102295, 0.6010000109672546, 0.5860000252723694, 0.5839999914169312, 0.5879999995231628, 0.5789999961853027, 0.5799999833106995, 0.5799999833106995, 0.5740000009536743, 0.5730000138282776, 0.5699999928474426, 0.5669999718666077, 0.5669999718666077, 0.5649999976158142, 0.5619999766349792, 0.5590000152587891, 0.5619999766349792, 0.5590000152587891, 0.5550000071525574, 0.5569999814033508, 0.5519999861717224, 0.5540000200271606, 0.550000011920929, 0.546999990940094, 0.5400000214576721, 0.5400000214576721, 0.5490000247955322, 0.5350000262260437, 0.5410000085830688, 0.5360000133514404, 0.5410000085830688, 0.5329999923706055, 0.5260000228881836, 0.527999997138977, 0.5230000019073486, 0.5239999890327454, 0.5139999985694885, 0.4390000104904175, 0.35899999737739563, 0.3619999885559082, 0.47999998927116394, 0.5130000114440918, 0.5170000195503235, 0.5180000066757202, 0.515999972820282, 0.5130000114440918, 0.5080000162124634, 0.5099999904632568, 0.5049999952316284, 0.49300000071525574, 0.4869999885559082, 0.453000009059906, 0.42100000381469727, 0.3499999940395355, 0.26899999380111694, 0.210999995470047, 0.22699999809265137, 0.3009999990463257, 0.38199999928474426, 0.453000009059906, 0.4869999885559082, 0.49799999594688416, 0.4970000088214874, 0.49300000071525574, 0.49900001287460327, 0.4909999966621399, 0.4869999885559082, 0.4830000102519989, 0.49000000953674316, 0.49799999594688416, 0.4690000116825104, 0.3970000147819519, 0.3580000102519989, 0.3310000002384186, 0.29600000381469727, 0.27300000190734863, 0.30300000309944153, 0.3190000057220459, 0.3269999921321869, 0.35100001096725464, 0.36500000953674316, 0.3659999966621399, 0.3709999918937683, 0.37599998712539673, 0.3840000033378601, 0.3779999911785126, 0.375, 0.3869999945163727, 0.3799999952316284, 0.3799999952316284, 0.3790000081062317, 0.38100001215934753, 0.37599998712539673, 0.382999986410141, 0.38100001215934753, 0.3869999945163727, 0.38199999928474426, 0.3790000081062317, 0.3869999945163727, 0.382999986410141, 0.3869999945163727, 0.38600000739097595, 0.3869999945163727, 0.3869999945163727, 0.3840000033378601, 0.3889999985694885, 0.39500001072883606, 0.40400001406669617, 0.45399999618530273, 0.47200000286102295, 0.4560000002384186, 0.4580000042915344, 0.4690000116825104, 0.46799999475479126, 0.4880000054836273, 0.46799999475479126, 0.4830000102519989, 0.47099998593330383, 0.48899999260902405, 0.4869999885559082, 0.4650000035762787, 0.4869999885559082, 0.46700000762939453, 0.46799999475479126, 0.46799999475479126, 0.4490000009536743, 0.41200000047683716, 0.3709999918937683, 0.36800000071525574, 0.3569999933242798, 0.36399999260902405, 0.38999998569488525, 0.4020000100135803, 0.40799999237060547, 0.41100001335144043, 0.4020000100135803, 0.38499999046325684, 0.3869999945163727, 0.36899998784065247, 0.35600000619888306, 0.33799999952316284, 0.3089999854564667, 0.29600000381469727, 0.29600000381469727, 0.2800000011920929, 0.2680000066757202, 0.2619999945163727, 0.23499999940395355, 0.22200000286102295, 0.20900000631809235, 0.18799999356269836, 0.17599999904632568, 0.19300000369548798, 0.20499999821186066, 0.1899999976158142, 0.15299999713897705, 0.1420000046491623, 0.14499999582767487, 0.13500000536441803, 0.11800000071525574, 0.1120000034570694, 0.10700000077486038, 0.11299999803304672, 0.10999999940395355, 0.1120000034570694, 0.10999999940395355, 0.11100000143051147, 0.11699999868869781, 0.11100000143051147, 0.1120000034570694, 0.10999999940395355, 0.10899999737739563, 0.1120000034570694, 0.10899999737739563, 0.11299999803304672, 0.11800000071525574, 0.11999999731779099, 0.11299999803304672, 0.11500000208616257, 0.11400000005960464, 0.11500000208616257, 0.11100000143051147, 0.11599999666213989, 0.11699999868869781, 0.11500000208616257, 0.11500000208616257, 0.11599999666213989, 0.11500000208616257, 0.11599999666213989, 0.11699999868869781, 0.11599999666213989, 0.11800000071525574, 0.11900000274181366, 0.12200000137090683, 0.11999999731779099, 0.11900000274181366, 0.12200000137090683, 0.11900000274181366, 0.13199999928474426, 0.12200000137090683, 0.12399999797344208, 0.11999999731779099, 0.12200000137090683, 0.12399999797344208, 0.12200000137090683, 0.12399999797344208, 0.11999999731779099, 0.125, 0.125, 0.125, 0.12700000405311584, 0.12700000405311584, 0.1289999932050705, 0.12700000405311584, 0.12700000405311584, 0.1289999932050705, 0.12800000607967377, 0.13199999928474426, 0.12999999523162842, 0.12999999523162842, 0.13300000131130219, 0.13199999928474426, 0.13899999856948853, 0.13699999451637268, 0.13899999856948853, 0.13500000536441803, 0.13699999451637268, 0.13899999856948853, 0.14000000059604645, 0.1379999965429306, 0.1420000046491623, 0.14000000059604645, 0.1379999965429306, 0.14000000059604645, 0.13699999451637268, 0.1459999978542328, 0.13899999856948853, 0.1420000046491623, 0.1469999998807907, 0.14399999380111694, 0.14300000667572021, 0.1469999998807907, 0.14900000393390656, 0.15199999511241913, 0.15199999511241913, 0.15199999511241913, 0.14900000393390656, 0.1459999978542328, 0.1420000046491623, 0.1469999998807907, 0.15199999511241913, 0.16200000047683716, 0.15600000321865082, 0.15600000321865082, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.15700000524520874, 0.16300000250339508, 0.1720000058412552, 0.1679999977350235, 0.16599999368190765, 0.17000000178813934, 0.16899999976158142, 0.17100000381469727, 0.17399999499320984, 0.17499999701976776, 0.17599999904632568, 0.17399999499320984, 0.1770000010728836, 0.18000000715255737, 0.18199999630451202, 0.1809999942779541, 0.18799999356269836, 0.18199999630451202, 0.1850000023841858, 0.18199999630451202, 0.18000000715255737, 0.17800000309944153, 0.1770000010728836, 0.16699999570846558, 0.1459999978542328, 0.15199999511241913, 0.16599999368190765, 0.1679999977350235, 0.16500000655651093, 0.15600000321865082, 0.16899999976158142, 0.15600000321865082, 0.15399999916553497, 0.15199999511241913, 0.15800000727176666, 0.16500000655651093, 0.0020000000949949026, inf, inf, inf, 0.1379999965429306, 0.0020000000949949026, inf, 0.0020000000949949026, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.0020000000949949026, 0.12399999797344208, 0.14800000190734863, 0.1420000046491623, 0.13099999725818634, 0.1459999978542328, 0.11699999868869781, 0.12399999797344208, 0.13099999725818634, 0.13199999928474426, 0.11999999731779099, 0.12600000202655792, 0.13099999725818634, 0.11699999868869781, 0.12200000137090683, 0.11699999868869781, 0.12700000405311584, 0.125, 0.11100000143051147, 0.12200000137090683, 0.11800000071525574, 0.11699999868869781, 0.12300000339746475, 0.12700000405311584, 0.11900000274181366, 0.12300000339746475, 0.11599999666213989, 0.11599999666213989, 0.11400000005960464, 0.12399999797344208, 0.11699999868869781, 0.11999999731779099, 0.11800000071525574, 0.12399999797344208, 0.10899999737739563, 0.11599999666213989, 0.11400000005960464, 0.12200000137090683, 0.11699999868869781, 0.11100000143051147, 0.11699999868869781, 0.11800000071525574, 0.12300000339746475, 0.11800000071525574, 0.11100000143051147, 0.11299999803304672, 0.12099999934434891, 0.12200000137090683, 0.11500000208616257, 0.12099999934434891, 0.12099999934434891, 0.12099999934434891, 0.12200000137090683, 0.11299999803304672, 0.11800000071525574, 0.11900000274181366, 0.1120000034570694, 0.11599999666213989, 0.12399999797344208, 0.11699999868869781, 0.11400000005960464, 0.1120000034570694, 0.11500000208616257, 0.11900000274181366, 0.11299999803304672, 0.10899999737739563, 0.12600000202655792, 0.11400000005960464, 0.11599999666213989, 0.11800000071525574, 0.11999999731779099, 0.11599999666213989, 0.11900000274181366, 0.125, 0.10599999874830246, 0.11599999666213989, 0.09700000286102295, 0.11699999868869781, 0.11699999868869781, 0.11400000005960464, 0.11699999868869781, 0.11800000071525574, 0.11900000274181366, 0.12300000339746475, 0.10999999940395355, 0.11100000143051147, 0.12300000339746475, 0.12300000339746475, 0.12300000339746475, 0.11900000274181366, 0.1120000034570694, 0.11500000208616257, 0.11500000208616257, 0.11500000208616257, 0.11599999666213989, 0.11699999868869781, 0.11800000071525574, 0.11699999868869781, 0.11599999666213989, 0.12200000137090683, 0.11800000071525574, 0.11500000208616257, 0.11800000071525574, 0.11900000274181366, 0.11999999731779099, 0.11800000071525574, 0.11699999868869781, 0.11599999666213989, 0.11999999731779099, 0.11599999666213989, 0.11400000005960464, 0.11500000208616257, 0.11900000274181366, 0.11900000274181366, 0.11400000005960464, 0.11599999666213989, 0.11800000071525574, 0.10999999940395355, 0.11500000208616257, 0.11500000208616257, 0.11599999666213989, 0.11400000005960464, 0.11100000143051147, 0.11699999868869781, 0.11500000208616257, 0.11500000208616257, 0.11699999868869781, 0.11400000005960464, 0.11699999868869781, 0.11500000208616257, 0.12099999934434891, 0.11699999868869781, 0.11500000208616257, 0.11800000071525574, 0.11699999868869781, 0.11800000071525574, 0.11999999731779099, 0.1120000034570694, 0.12099999934434891, 0.11900000274181366, 0.12200000137090683, 0.11800000071525574, 0.11999999731779099, 0.125, 0.125, 0.12200000137090683, 0.12099999934434891, 0.12099999934434891, 0.12300000339746475, 0.12200000137090683, 0.11800000071525574, 0.11900000274181366, 0.125, 0.11599999666213989, 0.125, 0.12099999934434891, 0.12399999797344208, 0.12099999934434891, 0.125, 0.1289999932050705, 0.12099999934434891, 0.12600000202655792, 0.11599999666213989, 0.1340000033378601, 0.12399999797344208, 0.11500000208616257, 0.12800000607967377, 0.12700000405311584, 0.10999999940395355, 0.11599999666213989, inf, inf, inf, inf, 0.0020000000949949026, 0.07500000298023224, 0.07100000232458115, 0.08299999684095383, 0.06499999761581421, 0.0820000022649765, 0.06199999898672104, 0.06199999898672104, 0.07900000363588333, 0.0689999982714653, 0.08500000089406967, 0.07599999755620956, 0.08699999749660492, 0.09000000357627869, 0.07999999821186066, 0.08299999684095383, 0.07699999958276749, 0.09300000220537186, 0.1120000034570694, 0.10999999940395355, 0.10100000351667404, 0.08299999684095383, 0.08900000154972076, 0.08299999684095383, 0.0949999988079071, 0.09300000220537186, 0.09099999815225601, inf, inf, 0.0989999994635582, 0.10999999940395355, 0.0020000000949949026, 0.125, inf, inf]
intensities: [138.0, 141.0, 141.0, 138.0, 147.0, 151.0, 141.0, 144.0, 144.0, 144.0, 141.0, 141.0, 144.0, 147.0, 144.0, 147.0, 144.0, 144.0, 141.0, 141.0, 141.0, 141.0, 151.0, 141.0, 147.0, 147.0, 144.0, 151.0, 147.0, 151.0, 144.0, 151.0, 151.0, 154.0, 151.0, 154.0, 151.0, 151.0, 154.0, 157.0, 151.0, 151.0, 157.0, 157.0, 154.0, 154.0, 157.0, 163.0, 160.0, 157.0, 151.0, 160.0, 157.0, 157.0, 160.0, 157.0, 160.0, 160.0, 160.0, 160.0, 157.0, 160.0, 157.0, 160.0, 163.0, 154.0, 163.0, 160.0, 163.0, 163.0, 160.0, 163.0, 157.0, 160.0, 160.0, 160.0, 160.0, 157.0, 157.0, 163.0, 160.0, 163.0, 160.0, 160.0, 160.0, 160.0, 163.0, 163.0, 157.0, 160.0, 163.0, 163.0, 160.0, 166.0, 163.0, 166.0, 160.0, 166.0, 163.0, 166.0, 163.0, 172.0, 166.0, 166.0, 163.0, 163.0, 166.0, 169.0, 166.0, 166.0, 163.0, 169.0, 163.0, 166.0, 163.0, 163.0, 169.0, 169.0, 169.0, 169.0, 172.0, 172.0, 163.0, 169.0, 169.0, 163.0, 169.0, 166.0, 172.0, 169.0, 169.0, 169.0, 169.0, 172.0, 172.0, 169.0, 166.0, 172.0, 169.0, 169.0, 169.0, 169.0, 172.0, 169.0, 169.0, 172.0, 166.0, 169.0, 175.0, 169.0, 172.0, 166.0, 169.0, 169.0, 172.0, 169.0, 169.0, 172.0, 166.0, 166.0, 18.0, 138.0, 144.0, 144.0, 144.0, 154.0, 157.0, 160.0, 157.0, 160.0, 157.0, 154.0, 160.0, 157.0, 163.0, 166.0, 166.0, 175.0, 175.0, 178.0, 175.0, 178.0, 181.0, 160.0, 147.0, 151.0, 138.0, 120.0, 70.0, 0.0, 0.0, 0.0, 24.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 73.0, 86.0, 92.0, 95.0, 92.0, 101.0, 86.0, 64.0, 80.0, 95.0, 98.0, 86.0, 83.0, 86.0, 107.0, 107.0, 101.0, 104.0, 110.0, 114.0, 126.0, 141.0, 138.0, 138.0, 129.0, 126.0, 120.0, 120.0, 135.0, 147.0, 144.0, 144.0, 135.0, 132.0, 132.0, 138.0, 126.0, 107.0, 95.0, 92.0, 76.0, 76.0, 67.0, 67.0, 70.0, 64.0, 73.0, 67.0, 64.0, 67.0, 64.0, 67.0, 70.0, 76.0, 83.0, 83.0, 110.0, 141.0, 147.0, 166.0, 169.0, 169.0, 166.0, 166.0, 166.0, 172.0, 172.0, 172.0, 166.0, 166.0, 169.0, 166.0, 169.0, 166.0, 166.0, 166.0, 163.0, 163.0, 169.0, 163.0, 166.0, 163.0, 163.0, 163.0, 166.0, 160.0, 157.0, 163.0, 160.0, 157.0, 160.0, 157.0, 160.0, 157.0, 160.0, 157.0, 157.0, 157.0, 157.0, 154.0, 151.0, 151.0, 151.0, 147.0, 154.0, 157.0, 160.0, 160.0, 160.0, 166.0, 163.0, 166.0, 163.0, 169.0, 169.0, 166.0, 166.0, 160.0, 163.0, 169.0, 160.0, 166.0, 160.0, 154.0, 169.0, 172.0, 175.0, 175.0, 172.0, 172.0, 175.0, 172.0, 169.0, 172.0, 169.0, 172.0, 163.0, 160.0, 151.0, 147.0, 151.0, 147.0, 157.0, 163.0, 175.0, 175.0, 178.0, 185.0, 181.0, 185.0, 185.0, 185.0, 188.0, 169.0, 135.0, 73.0, 64.0, 76.0, 73.0, 76.0, 92.0, 89.0, 101.0, 107.0, 98.0, 98.0, 123.0, 132.0, 157.0, 185.0, 206.0, 212.0, 215.0, 212.0, 215.0, 206.0, 215.0, 209.0, 215.0, 209.0, 209.0, 209.0, 206.0, 209.0, 209.0, 209.0, 206.0, 206.0, 206.0, 206.0, 197.0, 194.0, 203.0, 191.0, 191.0, 203.0, 209.0, 230.0, 218.0, 230.0, 222.0, 230.0, 230.0, 215.0, 230.0, 212.0, 212.0, 209.0, 197.0, 175.0, 157.0, 129.0, 117.0, 98.0, 89.0, 83.0, 80.0, 80.0, 80.0, 80.0, 83.0, 76.0, 76.0, 70.0, 64.0, 67.0, 67.0, 64.0, 64.0, 61.0, 64.0, 58.0, 55.0, 55.0, 52.0, 49.0, 52.0, 58.0, 70.0, 73.0, 73.0, 83.0, 86.0, 83.0, 86.0, 83.0, 83.0, 86.0, 86.0, 86.0, 86.0, 86.0, 83.0, 92.0, 92.0, 110.0, 126.0, 132.0, 141.0, 144.0, 154.0, 154.0, 157.0, 157.0, 147.0, 160.0, 157.0, 157.0, 154.0, 154.0, 157.0, 154.0, 157.0, 154.0, 157.0, 157.0, 160.0, 154.0, 157.0, 160.0, 151.0, 163.0, 157.0, 160.0, 154.0, 154.0, 157.0, 154.0, 154.0, 154.0, 154.0, 154.0, 154.0, 154.0, 154.0, 154.0, 157.0, 147.0, 151.0, 151.0, 154.0, 154.0, 154.0, 154.0, 157.0, 157.0, 154.0, 160.0, 154.0, 151.0, 154.0, 154.0, 154.0, 151.0, 151.0, 151.0, 151.0, 147.0, 147.0, 151.0, 151.0, 154.0, 154.0, 147.0, 147.0, 147.0, 151.0, 144.0, 135.0, 126.0, 117.0, 95.0, 73.0, 64.0, 70.0, 70.0, 61.0, 73.0, 64.0, 86.0, 114.0, 129.0, 141.0, 141.0, 147.0, 154.0, 151.0, 151.0, 151.0, 147.0, 154.0, 147.0, 147.0, 147.0, 151.0, 151.0, 147.0, 135.0, 135.0, 129.0, 126.0, 114.0, 107.0, 95.0, 98.0, 76.0, 46.0, 43.0, 36.0, 39.0, 36.0, 33.0, 24.0, 30.0, 24.0, 24.0, 0.0, 0.0, 0.0, 0.0, 18.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 15.0, 18.0, 24.0, 24.0, 27.0, 27.0, 24.0, 27.0, 27.0, 24.0, 36.0, 36.0, 39.0, 36.0, 39.0, 39.0, 39.0, 43.0, 39.0, 43.0, 46.0, 52.0, 55.0, 55.0, 55.0, 55.0, 61.0, 55.0, 52.0, 52.0, 55.0, 49.0, 49.0, 49.0, 52.0, 52.0, 58.0, 61.0, 61.0, 61.0, 58.0, 64.0, 76.0, 76.0, 76.0, 80.0, 80.0, 80.0, 76.0, 76.0, 76.0, 70.0, 70.0, 70.0, 70.0, 80.0, 83.0, 83.0, 89.0, 98.0, 114.0, 129.0, 138.0, 147.0, 160.0, 181.0, 185.0, 191.0, 194.0, 203.0, 200.0, 206.0, 203.0, 203.0, 188.0, 188.0, 206.0, 203.0, 206.0, 212.0, 206.0, 206.0, 203.0, 188.0, 178.0, 175.0, 169.0, 169.0, 166.0, 160.0, 163.0, 160.0, 160.0, 160.0, 160.0, 157.0, 157.0, 147.0, 154.0, 154.0, 144.0, 144.0, 144.0, 144.0, 144.0, 138.0, 135.0, 138.0, 138.0, 135.0, 135.0, 138.0, 135.0, 138.0, 135.0, 135.0, 129.0, 138.0, 129.0, 132.0, 129.0, 126.0, 126.0, 126.0, 129.0, 126.0, 129.0, 123.0, 120.0, 117.0, 117.0, 120.0, 120.0, 120.0, 114.0, 117.0, 117.0, 107.0, 107.0, 110.0, 104.0, 104.0, 101.0, 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


开心洋葱 , 版权所有丨如未注明 , 均为原创丨未经授权请勿修改 , 转载请注明ROS 中Tim561激光雷达的参数配置
喜欢 (0)

您必须 登录 才能发表评论!

加载中……