problems with ydlidar GS2 #60
Description
ros2 launch ydlidar_ros2_driver ydlidar_launch.py params_file:=src/ydlidar_ros2_driver/params/G2.yaml
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2025-06-03-17-09-42-403047-debiandell-325782
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_ros2_driver_node-1]: process started with pid [325795]
[INFO] [static_transform_publisher-2]: process started with pid [325796]
[static_transform_publisher-2] [WARN] [1748970582.575885371] []: Old-style arguments are deprecated; see --help for new-style arguments
[ydlidar_ros2_driver_node-1] [INFO] [1748970582.580582567] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:42][info] SDK initializing
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:42][info] SDK has been initialized
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:42][info] SDK Version: 1.2.15
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:42][info] Connect elapsed time 2 ms
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:42][info] Lidar successfully connected [/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0:230400]
[static_transform_publisher-2] [INFO] [1748970582.583198061] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.020000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Lidar running correctly! The health status good
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Current Lidar Model Code 15
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Baseplate device info
[ydlidar_ros2_driver_node-1] Firmware version: 1.7
[ydlidar_ros2_driver_node-1] Hardware version: 1
[ydlidar_ros2_driver_node-1] Model: G2B
[ydlidar_ros2_driver_node-1] Serial: 2020112300005092
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Current scan frequency: 10.00Hz
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Current scan frequency: 10.00Hz
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Successfully obtained the corrected offset angle[0.000000] from the lidar[2020112300005092]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Check status, Elapsed time 597 ms
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:43][info] Lidar init success, Elapsed time [599]ms
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:45][info] [YDLIDAR] Create thread 0x655876C0
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:45][info] Successed to start scan mode, Elapsed time 2570 ms
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:45][info] Scan Frequency: 10.00Hz
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:45][info] Fixed Size: 500
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:45][info] Sample Rate: 5.00K
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:45][info] Successed to check the lidar, Elapsed time 0 ms
[ydlidar_ros2_driver_node-1] [2025-06-03 17:09:45][info] Now lidar is scanning...
[ydlidar_ros2_driver_node-1] [WARN] [1748970585.824084070] [ydlidar_ros2_driver_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:01][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970601.848028730] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:01][error] Timeout count: 1
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:02][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970602.848347963] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:02][error] Timeout count: 2
[ydlidar_ros2_driver_node-1] [ERROR] [1748970603.848748314] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:03][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:03][error] Timeout count: 3
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:04][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970604.849137789] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:05][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970605.849424915] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:06][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970606.849796199] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:21][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970621.781237601] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:21][error] Timeout count: 1
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:22][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970622.781620715] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:22][error] Timeout count: 2
[ydlidar_ros2_driver_node-1] [ERROR] [1748970623.781988842] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:23][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:23][error] Timeout count: 3
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:24][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970624.782266601] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [ERROR] [1748970625.782569865] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:25][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:26][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970626.782951587] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:40][error] Timeout count: 1
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:40][error] Timeout count: 2
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:40][error] Timeout count: 3
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:41][error] [YDLIDAR]: -1 Device is not open
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970641.274905113] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:42][error] [YDLIDAR]: -1 Device is not open
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970642.275295020] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:43][error] [YDLIDAR]: -1 Device is not open
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970643.275613070] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:44][error] [YDLIDAR]: -1 Device is not open
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970644.275901560] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:45][error] [YDLIDAR]: -1 Device is not open
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970645.276305272] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:46][error] [YDLIDAR]: -1 Device is not open
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970646.276598834] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:47][error] [YDLIDAR]: -1 Device is not open
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970647.276876958] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:48][error] [YDLIDAR]: -1 Device Tremble
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970648.277212368] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:10:49][error] [YDLIDAR]: -1 Device Tremble
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970649.277546891] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:01][error] Check Sum 0x43EF != 0x6CA6
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:01][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970661.813935161] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:01][error] Timeout count: 1
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:02][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970662.814311326] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:02][error] Timeout count: 2
[ydlidar_ros2_driver_node-1] [ERROR] [1748970663.814686320] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:03][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:03][error] Timeout count: 3
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:04][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970664.814970483] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:05][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970665.815375686] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:06][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970666.815761931] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:21][error] Check Sum 0xD48B != 0x7376
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:21][error] [YDLIDAR]: -1 No error
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970681.844306787] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:22][error] Timeout count: 1
[ydlidar_ros2_driver_node-1] [ERROR] [1748970682.844644829] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:22][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:23][error] Timeout count: 2
[ydlidar_ros2_driver_node-1] [ERROR] [1748970683.844944929] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:23][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:24][error] Timeout count: 3
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:24][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970684.845216424] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [ERROR] [1748970685.845628678] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:25][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:26][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970686.845907228] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:27][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970687.846220512] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:41][error] Check Sum 0x190E != 0x6D7F
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:41][error] [YDLIDAR]: -1 No error
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970701.782343948] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:41][error] Timeout count: 1
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:42][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970702.782608273] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:42][error] Timeout count: 2
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:43][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970703.782989552] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:43][error] Timeout count: 3
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:44][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970704.783261235] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:45][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970705.783510866] [ydlidar_ros2_driver_node]: Failed to get scan
[ydlidar_ros2_driver_node-1] [2025-06-03 17:11:46][error] [YDLIDAR]: -1 Device Block
[ydlidar_ros2_driver_node-1]
[ydlidar_ros2_driver_node-1] [ERROR] [1748970706.783819902] [ydlidar_ros2_driver_node]: Failed to get scan