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LiDAR

Assemble the LiDAR on ConveyorBot

TODO

LiDAR UR50 network setup on Ubuntu 16.04

In order to make LiDAR work setup static IP

sudo nano /etc/network/interfaces

and make the eth0 interface looks like

auto eth0
	iface eth0 inet static
	address 192.168.42.125/24 #this IP may depend on your lidar settings
	gateway 0.0.0.0
	dns-nameservers 8.8.8.8

After that REBOOT the robot - for the changes to apply.

Troubleshooting

Once network is setup, you should be able to see LiDAR scan points values by typing into the terminal (on robot):

rostopic echo /scan

LiDAR UR50 network setup on Ubuntu 20.04

Ubuntu changed the way to set static IPs when they upgraded to 20.04. To assign a static IP using netplan create/edit the following:

• /etc/systemd/network/10-eth-dhcp.network:

    [Match]
    Name=eth0
  
    [Link]
    RequiredForOnline=no
  
    [Network]
    ConfigureWithoutCarrier=true
    Address=192.168.42.125/24
  

• /etc/netplan/01-netcfg.yaml (create it if not already present):

    network:
      version: 2
      renderer: networkd
      ethernets:
        eth0:
         dhcp4: no
         addresses: [192.168.42.125/24]
         gateway4: 0.0.0.0
         nameservers:
           addresses: [8.8.8.8]
  

Since netplan is being used we also need apply the changes:

   sudo netplan --debug apply

This will flag anyy errors in your file (yaml is space sensitive).
Check to see if things are correct with

ifconfig 

and ping to 192.168.42.222 to see if there is a successful transfer of packets:

ping 192.168.42.222

Also make sure the parameters in the /breadcrumb_bringup/launch/lidar.launch are correct:

<node pkg="lslidar_n301_driver" type="lslidar_n301_driver_node" name="lslidar_n301_driver_node" output="screen">
    <param name="frame_id" value="laser_link"/>
    <param name="device_ip" value="192.168.42.222"/>
    <param name="msop_port" value="2368"/>
    <param name="difop_port" value="2369"/>
    <param name="add_multicast" value="false"/>
    <param name="group_ip" value="224.1.1.2"/>
  </node>

You can then launch by using the appropraite file for Magni, Convoyorbot or Ezmap. (Added note, on some Raspberry Pi 3s eth0 is not the default name for the ethernet interface, and looks like “enxb827eb7e6a3e” or three letters followed by a MAC address.) You can check by ifconfig -a to get this interface name.)