From 18b2da545033a7e60c9b9446c611fb38ed66ddb6 Mon Sep 17 00:00:00 2001 From: lyq Date: Wed, 22 Apr 2026 14:37:56 +0800 Subject: [PATCH] =?UTF-8?q?fix=20bug=20-=20=E5=89=8D=E9=9B=B7=E8=BE=BE?= =?UTF-8?q?=E5=8F=91=E5=B8=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../airy/rslidar_sdk-main/launch/start.py | 14 +++++++------- .../config/merger_config.yaml | 2 +- .../src/merge_two_lidars.cpp | 16 ++++++++-------- 3 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/perception/airy/rslidar_sdk-main/launch/start.py b/src/perception/airy/rslidar_sdk-main/launch/start.py index 3d66283..a8ced51 100755 --- a/src/perception/airy/rslidar_sdk-main/launch/start.py +++ b/src/perception/airy/rslidar_sdk-main/launch/start.py @@ -21,13 +21,13 @@ def generate_launch_description(): package="rslidar_sdk", executable="rslidar_sdk_node", output="screen", - parameters=[{"config_path": config_rear}], - ), - Node( - namespace="rviz2", - package="rviz2", - executable="rviz2", - arguments=["-d", rviz_config], + parameters=[{"config_path": config_front}], ), + # Node( + # namespace="rviz2", + # package="rviz2", + # executable="rviz2", + # arguments=["-d", rviz_config], + # ), ] ) diff --git a/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml b/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml index ff69f9b..f6a0477 100644 --- a/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml +++ b/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml @@ -7,7 +7,7 @@ lidar_merger: frame_id: "rslidar" queue_size: 3 time_tolerance: 0.1 - enable_debug: false + enable_debug: true # 点云范围过滤 filter_min_x: -5.0 diff --git a/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp b/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp index 735175a..927a5cb 100644 --- a/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp +++ b/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp @@ -300,7 +300,7 @@ class LidarMerger : public rclcpp::Node last_stats_time_ = now(); front_rx_ = rear_rx_ = merged_count_ = front_only_count_ = 0; - RCLCPP_INFO(get_logger(), "LidarMerger ready | time_tolerance=%.3fs | use_gpu=%s", time_tolerance_, + LOG_INFO("LidarMerger ready | time_tolerance=%.3fs | use_gpu=%s", time_tolerance_, use_gpu_ ? "true" : "false"); } @@ -382,7 +382,7 @@ class LidarMerger : public rclcpp::Node { auto dt = std::chrono::duration_cast(std::chrono::steady_clock::now() - t0) .count(); - RCLCPP_DEBUG(get_logger(), "[ch%d] process %.1fms, pts=%zu", channel, dt / 1000.0, pcl_out->size()); + LOG_DEBUG("[ch%d] process %.1fms, pts=%zu", channel, dt / 1000.0, pcl_out->size()); } } } @@ -487,7 +487,7 @@ class LidarMerger : public rclcpp::Node auto dt = std::chrono::duration_cast(std::chrono::steady_clock::now() - t_merge) .count(); auto e2e = (now() - front_frame.received_time).seconds(); - RCLCPP_INFO(get_logger(), "[Merge#%d] timediff=%.3fs, merge=%.1fms, e2e_delay=%.3fs", merged_count_.load(), + LOG_INFO("[Merge#%d] timediff=%.3fs, merge=%.1fms, e2e_delay=%.3fs", merged_count_.load(), min_diff, dt / 1000.0, e2e); } @@ -511,7 +511,7 @@ class LidarMerger : public rclcpp::Node if (enable_debug_) { - RCLCPP_INFO(get_logger(), "[FrontOnly#%d] No match (min_diff=%.3fs), published front radar only", + LOG_INFO_THROTTLE(1000,"[FrontOnly#%d] No match (min_diff=%.3fs), published front lidar only", front_only_count_.load(), min_diff); } @@ -533,7 +533,7 @@ class LidarMerger : public rclcpp::Node if (enable_debug_) { - RCLCPP_INFO(get_logger(), "[FrontOnly#%d] Only front radar available", front_only_count_.load()); + LOG_INFO_THROTTLE(1000,"[FrontOnly#%d] Only front lidar available", front_only_count_.load()); } cf.erase(cf.begin()); @@ -560,7 +560,7 @@ class LidarMerger : public rclcpp::Node } catch (const tf2::TransformException& e) { - RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000, "TF failed: %s", e.what()); + LOG_WARN_THROTTLE(1000, "TF failed: %s", e.what()); return nullptr; } } @@ -850,7 +850,7 @@ class LidarMerger : public rclcpp::Node if (fc->fields != rc->fields || fc->point_step != rc->point_step || fc->is_bigendian != rc->is_bigendian) { - RCLCPP_ERROR(get_logger(), "Cloud format mismatch!"); + LOG_ERROR("Cloud format mismatch!"); return nullptr; } @@ -1100,7 +1100,7 @@ class LidarMerger : public rclcpp::Node use_gpu_ = false; return; } - RCLCPP_INFO(get_logger(), "[GPU] Initialized, max_voxel_dim=%d", max_voxel_dim); + LOG_INFO("[GPU] Initialized, max_voxel_dim=%d", max_voxel_dim); #endif }