lots of builds errors RO2 Humble in raspberry PI4

[FrGe2016]

Many build errors when i build the package
I am not strong at cpp so here is are typical exemples ( there is many so much of them that i can not copy them all)

391 | declare_parameter(
| ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:391:3: note: candidate expects 4 arguments, 1 provided
/home/mower/ydlidar_ws/src/ydlidar_ros2_ws/src/ydlidar_ros2_driver/src/ydlidar_ros2_driver_node.cpp:56:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [9])’
56 | node->declare_parameter("frame_id");
| ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/mower/ydlidar_ws/src/ydlidar_ros2_ws/src/ydlidar_ros2_driver/src/ydlidar_ros2_driver_node.cpp:23:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
421 | declare_parameter(
| ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: template argument deduction/substitution failed:
/home/mower/ydlidar_ws/src/ydlidar_ros2_ws/src/ydlidar_ros2_driver/src/ydlidar_ros2_driver_node.cpp:56:26: note: candidate expects 4 arguments, 1 provided
56 | node->declare_parameter("frame_id");
| ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/mower/ydlidar_ws/src/ydlidar_ros2_ws/src/ydlidar_ros2_driver/src/ydlidar_ros2_driver_node.cpp:23:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’

[cclngit]

Hello, have you been able to find a solution to the problem you mentioned on Humble? I have also encountered the same issue on multiple devices including Khadas vim4, Ubuntu 22.04 VM, RP4 and RP3, but have been unable to resolve it.

[FrGe2016]

no Not solved yet. If i have development i will let you know. Please to the same if you have somen positive results Le ven. 6 janv. 2023, à 09 h 54, cclngit ***@***.***> a écrit :

…

Hello, have you been able to find a solution to the problem you mentioned on Humble? I have also encountered the same issue on multiple devices including Khadas vim4, Ubuntu 22.04 VM, RP4 and RP3, but have been unable to resolve it. — Reply to this email directly, view it on GitHub <#22 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEARAMPRZZXKWRPMMFUIWD3WRAWYPANCNFSM6AAAAAATRA7XOM> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[cclngit]

Hello @FrGe2016 , I have already debugged and rewritten some code which you can see in pull request #23 (this is just a draft). It worked on my Khadas vim4, but I have not tested it on my Raspberry Pi 3/4 or my Ubuntu virtual machine.

[FrGe2016]

Thanks, I will check it out. Le sam. 7 janv. 2023, à 00 h 53, cclngit ***@***.***> a écrit :

…

Hello @FrGe2016 <https://github.com/FrGe2016> , I have already debugged and rewritten some code which you can see in pull request #23 <#23> (this is just a draft). It worked on my Khadas vim4, but I have not tested it on my Raspberry Pi 3/4 or my Ubuntu virtual machine. — Reply to this email directly, view it on GitHub <#22 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEARAMJXQZJJYYUCAUOSIITWREAGPANCNFSM6AAAAAATRA7XOM> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[FrGe2016]

Thanks it is compiling But i have a new issue. The lidar is stopping rapidly after the first tests.
I have adjusted the yaml file for the X4 model
I have pretty much the same result testing only the SDK.
Using the same rpi4 with ubuntu 20 and ROS1 is working well?

[ydlidar_ros2_driver_node-1] LiDAR successfully connected
[ydlidar_ros2_driver_node-1] [YDLIDAR]:Lidar running correctly ! The health status: good
[ydlidar_ros2_driver_node-1] LiDAR init success, Elapsed time 633 ms
[ydlidar_ros2_driver_node-1] [YDlidar] Create thread 0x936488E0
[ydlidar_ros2_driver_node-1] [CYdLidar] Successed to start scan mode, Elapsed time 1065 ms
[ydlidar_ros2_driver_node-1] timeout count: 1
[ydlidar_ros2_driver_node-1] timeout count: 2
[ydlidar_ros2_driver_node-1] timeout count: 1
[ydlidar_ros2_driver_node-1] 0x936488E0 thread has been canceled
[ydlidar_ros2_driver_node-1] [CYdLidar] Failed to turn on the Lidar, because the lidar is [Device Failed].
[ydlidar_ros2_driver_node-1] [INFO] [1673791571.975928676] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_ros2_driver_node-1]: process has finished cleanly [pid 5357]

[cclngit]

@FrGe2016 I don't know why but I figured out that the yaml parameters did not work, you must change the parameters directly in the source code, I explain it in the README, then change the parameters in the source code and re-use the colcon build command in the same directory like you did before a step forward to recompile the code.

[cclngit]

The SDK did not work for me too

[FrGe2016]

I have made a few additional tests

From the ydlidar site i have downlodad the SDK for the X4. Now the sdk is alone is working. But with the ros 2 driver the scan is stopping after around 10 seconds. I will look at your read me to modify the parameters and let you know

[cclngit]

The sdk never worked for me, but after some troubleshooting changing directly node->get_parameter("/dev/ttyUSB0", str_optvalue); with the right parameters work for me. If what I guess is correct when we type ros2 launch ydlidar_ros2_driver ydlidar_launch.py we may add the parameters after like -p port dev/ttyUSB0 -p bauderate 115200 for example but with my version that no longer work anymore.

[cclngit]

Hello @FrGe2016, do you succeed ?

[camelator]

Same issue on rockpi

[camelator]

workaround here #21 worked for me! ...