teleop\u3092\u5b9f\u884c\u3057\u305f\u5f8c\u306btopic list\u3092\u898b\u3066\u3044\u305f\u305f\u3081\/cmd_vel\u304c\u3042\u308b\u3088\u3046\u306b\u898b\u3048\u3066\u3044\u307e\u3057\u305f\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~$ docker run -it --rm \\\r\n --net=host \\\r\n --env RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \\\r\n osrf\/ros:galactic-desktop\r\nroot@NucBoxG5:\/# ros2 topic list\r\n\/accel\/filtered\r\n\/diagnostics\r\n\/imu\r\n\/joint_states\r\n\/odom\r\n\/odometry\/filtered\r\n\/parameter_events\r\n\/robot_description\r\n\/rosout\r\n\/scan\r\n\/set_pose\r\n\/tf\r\n\/tf_static\r\n\/voltage\r\n\/voltage_backup\r\n\/ydlidar_ros2_driver_node\/transition_event\r\n<\/pre>\n\u3044\u306a\u3044\u3067\u3059\u306d\u2026\uff0e
\n\u8d77\u52d5\u30ed\u30b0\u3092\u8ffd\u3044\u304b\u3051\u3066\u307f\u305f\u6240\uff0c<\/p>\n\r\n(ros2 galactic py3)er@er:~\/myagv_ros2$ ros2 launch myagv_odometry myagv_active.launch.py\r\n[INFO] [launch]: All log files can be found below \/home\/er\/.ros\/log\/2026-05-22-09-40-24-525547-er-32658\r\n[INFO] [launch]: Default logging verbosity is set to INFO\r\n[INFO] [ydlidar_ros2_driver_node-7]: process started with pid [32698]\r\n[INFO] [myagv_odometry_node-1]: process started with pid [32677]\r\n...\r\n[myagv_odometry_node-1] Serial buffer cleared successfully\r\n...\r\n[ERROR] [myagv_odometry_node-1]: process has died [pid 32893, exit code -6, cmd '\/home\/er\/myagv_ros2\/install\/myagv_odometry\/lib\/myagv_odometry\/myagv_odometry_node --ros-args -r __node:=myagv_odometry_node'].\r\n...\r\n[myagv_odometry_node-1] [INFO] [1779414400.608016034] [rclcpp]: signal_handler(signal_value=2)\r\n[myagv_odometry_node-1] terminate called after throwing an instance of 'boost::wrapexcept<boost::system::system_error>'\r\n[myagv_odometry_node-1] what(): read: Interrupted system call\r\n...\r\n<\/pre>\n\u30b3\u30b1\u3066\u307e\u3059\u306d\u2026\uff0e<\/p>\n
\n\u539f\u56e0\u5224\u660e\uff0e
\n\u5927\u304d\u306a\u539f\u56e0\u306f\uff0cROS2\u306e\u30bd\u30fc\u30b9\u306fjetson nano\u7528\u3067\u3057\u305f\u306e\u3067\uff0c\u63a5\u7d9a\u30dd\u30fc\u30c8\u304c\u9055\u3046\u306e\u3068\u901a\u4fe1\u30b3\u30de\u30f3\u30c9\u304c\u7570\u306a\u3063\u3066\u3044\u305f\u3000\u3068\u3044\u3046\u90e8\u5206\u3067\u3059\uff0e
\n\u5dee\u5206\u306f\u4ee5\u4e0b\u3067\u3059\uff0e<\/p>\n\r\ndiff --git a\/myagv_odometry\/src\/myAGV.cpp b\/myagv_odometry\/src\/myAGV.cpp\r\nindex d513bea..3f5d431 100755\r\n--- a\/myagv_odometry\/src\/myAGV.cpp\r\n+++ b\/myagv_odometry\/src\/myAGV.cpp\r\n@@ -8,7 +8,7 @@\r\n const unsigned char header[2] = { 0xfe, 0xfe };\r\n \r\n boost::asio::io_service iosev;\r\n-boost::asio::serial_port sp(iosev, "\/dev\/ttyS0");\r\n+boost::asio::serial_port sp(iosev, "\/dev\/ttyAMA2");\r\n \r\n std::array<double, 36> odom_pose_covariance = {\r\n {1e-9, 0, 0, 0, 0, 0,\r\n@@ -179,6 +179,7 @@ bool MyAGV::readSpeed()\r\n imu_data.angular_velocity.y = ((buf[index + 11] + buf[index + 12] * 256 ) - 10000) * 0.1;\r\n imu_data.angular_velocity.z = ((buf[index + 13] + buf[index + 14] * 256 ) - 10000) * 0.1;\r\n \r\n+ \/*\r\n uint8_t highNibble = (buf[index + 15] >> 4) & 0x0F; \r\n \r\n Battery_voltage = (float)buf[index + 16] \/ 10.0f;\r\n@@ -212,6 +213,7 @@ bool MyAGV::readSpeed()\r\n \/\/ << imu_data.linear_acceleration.x << "," << imu_data.linear_acceleration.y << "," << imu_data.linear_acceleration.z << "|"\r\n \/\/ << imu_data.angular_velocity.x << "," << imu_data.angular_velocity.y << "," << imu_data.angular_velocity.z << std::endl;\r\n \/\/std::cout << "current pos is: " << x << "," << y << "," << theta << std::endl;\r\n+ *\/\r\n \r\n return true;\r\n }\r\n@@ -233,13 +235,13 @@ void MyAGV::writeSpeed(double movex, double movey, double rot)\r\n char buf[8] = { 0 };\r\n buf[0] = header[0];\r\n buf[1] = header[1];\r\n- buf[2] = move_cmd >> 8;\r\n- buf[3] = move_cmd & 0xff;\r\n- buf[4] = x_send;\r\n- buf[5] = y_send;\r\n- buf[6] = rot_send;\r\n- check = (buf[2] + buf[3] + buf[4] + buf[5] + buf[6]) & 0xff;\r\n- buf[7] = check;\r\n+ \/\/ buf[2] = move_cmd >> 8;\r\n+ \/\/ buf[3] = move_cmd & 0xff;\r\n+ buf[2] = x_send;\r\n+ buf[3] = y_send;\r\n+ buf[4] = rot_send;\r\n+ \/\/ check = (buf[2] + buf[3] + buf[4] + buf[5] + buf[6]) & 0xff;\r\n+ buf[5] = check;\r\n \r\n boost::asio::write(sp, boost::asio::buffer(buf));\r\n }\r\n@@ -341,7 +343,7 @@ void MyAGV::execute(double linearX, double linearY, double angularZ)\r\n { \r\n currentTime = this->get_clock()->now(); \r\n double dt = (currentTime - lastTime).seconds();\r\n- if (true == readSpeed()) \r\n+ \/\/ if (true == readSpeed()) \r\n { \r\n writeSpeed(linearX, linearY, angularZ);\r\n publisherOdom(dt);\r\n@@ -358,6 +360,7 @@ void MyAGV::execute(double linearX, double linearY, double angularZ)\r\n *\/\r\n void MyAGV::setAutoReportState(bool state)\r\n {\r\n+ return;\r\n \/\/ Motor auto report\r\n unsigned char cmd[6] = {0xfe, 0xfe, 0x01, 0x0c, state, 0x0e};\r\n short cmd_sum = 0;\r\n@@ -378,4 +381,4 @@ void MyAGV::setAutoReportState(bool state)\r\n boost::asio::write(sp, boost::asio::buffer(cmd));\r\n std::this_thread::sleep_for(std::chrono::milliseconds(50));\r\n return;\r\n-}\r\n\\ No newline at end of file\r\n+}\r\ndiff --git a\/myagv_odometry\/src\/myAGVSub.cpp b\/myagv_odometry\/src\/myAGVSub.cpp\r\nindex 832cc4a..803cadb 100755\r\n--- a\/myagv_odometry\/src\/myAGVSub.cpp\r\n+++ b\/myagv_odometry\/src\/myAGVSub.cpp\r\n@@ -41,4 +41,4 @@ int main(int argc, char* argv[])\r\n \r\n rclcpp::shutdown();\r\n return 0;\r\n-}\r\n\\ No newline at end of file\r\n+}\r\ndiff --git a\/ydlidar_ros2_driver\/params\/X2.yaml b\/ydlidar_ros2_driver\/params\/X2.yaml\r\nindex f36565a..38987b4 100644\r\n--- a\/ydlidar_ros2_driver\/params\/X2.yaml\r\n+++ b\/ydlidar_ros2_driver\/params\/X2.yaml\r\n@@ -1,6 +1,7 @@\r\n ydlidar_ros2_driver_node:\r\n ros__parameters:\r\n- port: \/dev\/ttyTHS1\r\n+ # port: \/dev\/ttyTHS1\r\n+ port: \/dev\/ttyAMA0\r\n frame_id: laser_frame\r\n ignore_array: "-50,50"\r\n baudrate: 115200\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"teleop\u3092\u5b9f\u884c\u3057\u305f\u5f8c\u306btopic list\u3092\u898b\u3066\u3044\u305f\u305f\u3081\/cmd_vel\u304c\u3042 …<\/p>\n