How to solve it ? [ldlidar_stl_ros2_node-1] [ERROR] [1698204279.082635882] [STL27L]: ldlidar communication is abnormal.

[wuh15]

ros2 launch ldlidar_stl_ros2 stl27l.launch.py
[INFO] [launch]: All log files can be found below /home/xiaoyu/.ros/log/2023-10-25-11-24-36-000859-patrick-Precision-3460-2064107
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ldlidar_stl_ros2_node-1]: process started with pid [2064108]
[INFO] [static_transform_publisher-2]: process started with pid [2064110]
[static_transform_publisher-2] [WARN] [1698204276.075204599] []: Old-style arguments are deprecated; see --help for new-style arguments
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081212779] [STL27L]: LDLiDAR SDK Pack Version is: v3.0.3
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081251821] [STL27L]: <product_name>: LDLiDAR_STL27L
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081256446] [STL27L]: <topic_name>: scan
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081259139] [STL27L]: <frame_id>: base_laser
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081261491] [STL27L]: <port_name>: /dev/ttyUSB0
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081263903] [STL27L]: <port_baudrate>: 921600
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081266528] [STL27L]: <laser_scan_dir>: Clockwise
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081269025] [STL27L]: <enable_angle_crop_func>: false
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081272418] [STL27L]: <angle_crop_min>: 0.000000
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081277139] [STL27L]: <angle_crop_max>: 0.000000
[ldlidar_stl_ros2_node-1] [INFO] [1698204276.081681053] [STL27L]: ldlidar node start is success
[static_transform_publisher-2] [INFO] [1698204276.082988739] [base_link_to_base_laser_stl27l]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.180000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'base_laser'
[ldlidar_stl_ros2_node-1] [ERROR] [1698204279.082635882] [STL27L]: ldlidar communication is abnormal.
[ldlidar_stl_ros2_node-1] [LDS][INFO][1698204276.81653920][Actual BaudRate reported:921600]
[ERROR] [ldlidar_stl_ros2_node-1]: process has died [pid 2064108, exit code 1, cmd '/home/xiaoyu/workspace/ldlidar_ros2_ws/install/ldlidar_stl_ros2/lib/ldlidar_stl_ros2/ldlidar_stl_ros2_node --ros-args -r __node:=STL27L --params-file /tmp/launch_params_w2dldkmu --params-file /tmp/launch_params_1tk6ghqz --params-file /tmp/launch_params_vnkcsfmv --params-file /tmp/launch_params_8pmzdaea --params-file /tmp/launch_params__l1tj9su --params-file /tmp/launch_params_hp4ukfam --params-file /tmp/launch_params_9sa_mjlg --params-file /tmp/launch_params_3dojh6ll --params-file /tmp/launch_params__xdmxevb'].

[arashrahmani]

I have the same issue

[bdigney89]

i also have the same issue , using ros2 humble.

[bperseghetti]

Are you sure it is connected to /dev/ttyUSB0 could be on just about anything, IE ours is on: https://github.com/CogniPilot/b3rb_robot/blob/6457eb6ceed6ce7a54bc4bbcc3481a5af71802d3/b3rb_bringup/launch/laser.launch.py#L36

[namato18]

I'm also having this issue, and yes it is indeed connected to /dev/ttyUSB0

EDIT: I'm using a LD20 lidar, using the drivers for LD19 seemed to do the trick, used the drivers from this repo: https://github.com/AlgoPathfinder/sdk_ldrobotsensorteam_stl/tree/main

[bperseghetti]

I'm also having this issue, and yes it is indeed connected to /dev/ttyUSB0

EDIT: I'm using a LD20 lidar, using the drivers for LD19 seemed to do the trick, used the drivers from this repo: https://github.com/AlgoPathfinder/sdk_ldrobotsensorteam_stl/tree/main

Yeah, if you (@wuh15 @arashrahmani @bdigney89) don't have an STL27L you should not run the STL27L launch file. I don't know how many people have that exact model but I doubt it's many as it's not easy to source as the other ones.

[naidol]

Thanks gents. Yes that LD20 driver does not work on ROS2(Humble). Thanks to pointing me to the LD19 driver. It works.
The driver can also be found on the suppliers website:
YouYeeToo.com

Scroll down to LIDAR and select LD19

https://drive.google.com/open?id=10nVCBdo7-LR3Cu8VlIEpKAykEDw_dEjG&usp=drive_fs