[{"data":1,"prerenderedAt":1680},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2026-09-20-dao-hang\u002F0400-0400-mid360-yu-tf-lian-tiao":3,"wiki-doc-items-2026-09-20-dao-hang":1443,"wiki:author-members":1668},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":46,"chapterOrder":1431,"date":1432,"description":39,"docKey":1433,"docRoot":1434,"docTitle":1435,"extension":1436,"isWikiDoc":462,"isWikiIndex":1437,"meta":1438,"navigation":462,"path":1439,"seo":1440,"stem":1441,"wikiDepth":46,"__hash__":1442},"wiki\u002Fwiki\u002F2026-09-20-导航\u002F0400-0400-MID360与TF联调.md","MID360与TF联调",[7],"董佳辉",{"type":9,"value":10,"toc":1425},"minimark",[11,15,20,33,102,121,127,150,157,181,184,187,190,196,199,204,209,229,232,234,239,241,246,249,254,275,278,283,286,291,294,299,302,305,310,315,318,322,359,362,375,380,386,389,392,423,429,435,440,443,474,477,546,549,605,608,616,627,634,663,666,689,692,731,734,737,740,761,764,767,791,811,816,819,864,867,870,875,880,887,930,935,942,945,964,969,976,979,988,1002,1007,1010,1013,1016,1019,1025,1028,1036,1040,1043,1062,1257,1260,1280,1300,1303,1345,1352,1421],[12,13,5],"h2",{"id":14},"mid360与tf联调",[16,17,19],"h3",{"id":18},"检查tf的生成情况","检查TF的生成情况",[21,22,23,24,28,29,32],"p",{},"启动",[25,26,27],"code",{},"robot_description","，里面有",[25,30,31],{},"joint_state_publisher，robot_state_publisher，RViz2","：",[34,35,40],"pre",{"className":36,"code":37,"language":38,"meta":39,"style":39},"language-bash shiki shiki-themes github-light github-dark","source install\u002Fsetup.bash\nros2 launch robot_description robot_description_launch.py \\\n  robot_name:=reality_robot \\\n  use_sim_time:=false \\\n  use_rviz:=true\n","bash","",[25,41,42,55,74,82,93],{"__ignoreMap":39},[43,44,47,51],"span",{"class":45,"line":46},"line",1,[43,48,50],{"class":49},"sj4cs","source",[43,52,54],{"class":53},"sZZnC"," install\u002Fsetup.bash\n",[43,56,58,62,65,68,71],{"class":45,"line":57},2,[43,59,61],{"class":60},"sScJk","ros2",[43,63,64],{"class":53}," launch",[43,66,67],{"class":53}," robot_description",[43,69,70],{"class":53}," robot_description_launch.py",[43,72,73],{"class":49}," \\\n",[43,75,77,80],{"class":45,"line":76},3,[43,78,79],{"class":53},"  robot_name:=reality_robot",[43,81,73],{"class":49},[43,83,85,88,91],{"class":45,"line":84},4,[43,86,87],{"class":53},"  use_sim_time:=",[43,89,90],{"class":49},"false",[43,92,73],{"class":49},[43,94,96,99],{"class":45,"line":95},5,[43,97,98],{"class":53},"  use_rviz:=",[43,100,101],{"class":49},"true\n",[21,103,104,105,108,109,112,113,116,117,120],{},"这里需要显式设置 ",[25,106,107],{},"robot_name:=reality_robot","，因为描述包自身的默认入口仍是 ",[25,110,111],{},"default_value=\"simulation_robot\"","。\n然后",[25,114,115],{},"use_rviz","默认就是",[25,118,119],{},"true","，可以不加。",[21,122,123,124],{},"启动串口程序发布",[25,125,126],{},"\u002Fserial\u002Fgimbal_joint_state",[34,128,130],{"className":36,"code":129,"language":38,"meta":39,"style":39},"source install\u002Fsetup.bash\nros2 launch serial_comm serial_comm.launch.py\n",[25,131,132,138],{"__ignoreMap":39},[43,133,134,136],{"class":45,"line":46},[43,135,50],{"class":49},[43,137,54],{"class":53},[43,139,140,142,144,147],{"class":45,"line":57},[43,141,61],{"class":60},[43,143,64],{"class":53},[43,145,146],{"class":53}," serial_comm",[43,148,149],{"class":53}," serial_comm.launch.py\n",[151,152,153],"ol",{},[154,155,156],"li",{},"chassis → gimbal_yaw（唯一实际yaw）",[34,158,160],{"className":36,"code":159,"language":38,"meta":39,"style":39},"ros2 run tf2_ros tf2_echo chassis gimbal_yaw\n",[25,161,162],{"__ignoreMap":39},[43,163,164,166,169,172,175,178],{"class":45,"line":46},[43,165,61],{"class":60},[43,167,168],{"class":53}," run",[43,170,171],{"class":53}," tf2_ros",[43,173,174],{"class":53}," tf2_echo",[43,176,177],{"class":53}," chassis",[43,179,180],{"class":53}," gimbal_yaw\n",[21,182,183],{},"手动往左转云台:",[21,185,186],{},"如果定义正确，你应该看到 yaw 从：0 → 正值",[21,188,189],{},"向左90度：",[21,191,192],{},[193,194],"img",{"alt":39,"src":195},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791020807353-1996e692.webp",[21,197,198],{},"向右90度：",[21,200,201],{},[193,202],{"alt":39,"src":203},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791020858493-1cdc287e.webp",[151,205,206],{"start":57},[154,207,208],{},"chassis → front_mid360",[34,210,212],{"className":36,"code":211,"language":38,"meta":39,"style":39},"ros2 run tf2_ros tf2_echo chassis front_mid360\n",[25,213,214],{"__ignoreMap":39},[43,215,216,218,220,222,224,226],{"class":45,"line":46},[43,217,61],{"class":60},[43,219,168],{"class":53},[43,221,171],{"class":53},[43,223,174],{"class":53},[43,225,177],{"class":53},[43,227,228],{"class":53}," front_mid360\n",[21,230,231],{},"它应该同步跟着转。",[21,233,189],{},[21,235,236],{},[193,237],{"alt":39,"src":238},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791020936120-f40cf710.webp",[21,240,198],{},[21,242,243],{},[193,244],{"alt":39,"src":245},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791020884703-0f78c380.webp",[21,247,248],{},"再抬头\u002F低头时，不应该跟 pitch 改变",[151,250,251],{"start":76},[154,252,253],{},"gimbal_yaw → gimbal_pitch（实际pitch）",[34,255,257],{"className":36,"code":256,"language":38,"meta":39,"style":39},"ros2 run tf2_ros tf2_echo gimbal_yaw gimbal_pitch\n",[25,258,259],{"__ignoreMap":39},[43,260,261,263,265,267,269,272],{"class":45,"line":46},[43,262,61],{"class":60},[43,264,168],{"class":53},[43,266,171],{"class":53},[43,268,174],{"class":53},[43,270,271],{"class":53}," gimbal_yaw",[43,273,274],{"class":53}," gimbal_pitch\n",[21,276,277],{},"接近水平：",[21,279,280],{},[193,281],{"alt":39,"src":282},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791021005063-ccfccfa2.webp",[21,284,285],{},"抬头：",[21,287,288],{},[193,289],{"alt":39,"src":290},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791021033385-2b16896c.webp",[21,292,293],{},"低头：",[21,295,296],{},[193,297],{"alt":39,"src":298},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791021095072-c0a4df78.webp",[21,300,301],{},"应该随 joint_pitch 变化。",[21,303,304],{},"直接在rviz2里进行测试也是一样的，在rviz2里打开TF插件看各个坐标系。",[21,306,307],{},[193,308],{"alt":39,"src":309},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791858611748-09097cf7.webp",[21,311,312],{},[193,313],{"alt":39,"src":314},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791858622134-6d9adacc.webp",[16,316,317],{"id":317},"测试mid360",[319,320,321],"h4",{"id":321},"修改mid360相关配置文件",[34,323,325],{"className":36,"code":324,"language":38,"meta":39,"style":39},"sudo apt update\nsudo apt install -y iproute2 iputils-ping arp-scan\n",[25,326,327,338],{"__ignoreMap":39},[43,328,329,332,335],{"class":45,"line":46},[43,330,331],{"class":60},"sudo",[43,333,334],{"class":53}," apt",[43,336,337],{"class":53}," update\n",[43,339,340,342,344,347,350,353,356],{"class":45,"line":57},[43,341,331],{"class":60},[43,343,334],{"class":53},[43,345,346],{"class":53}," install",[43,348,349],{"class":49}," -y",[43,351,352],{"class":53}," iproute2",[43,354,355],{"class":53}," iputils-ping",[43,357,358],{"class":53}," arp-scan\n",[21,360,361],{},"首先你得知道宿主机的ip地址：",[34,363,365],{"className":36,"code":364,"language":38,"meta":39,"style":39},"ip addr\n",[25,366,367],{"__ignoreMap":39},[43,368,369,372],{"class":45,"line":46},[43,370,371],{"class":60},"ip",[43,373,374],{"class":53}," addr\n",[21,376,377],{},[193,378],{"alt":39,"src":379},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791038184919-b8d2c2f7.webp",[21,381,382,383,32],{},"得知宿主机拿到的ip地址是",[25,384,385],{},"192.168.1.50",[21,387,388],{},"然后你得知道mid360的ip地址：",[21,390,391],{},"扫描一下：",[34,393,395],{"className":36,"code":394,"language":38,"meta":39,"style":39},"arp-scan --interface=enp3s0 192.168.1.0\u002F24\n# 或者\narp-scan --interface=enp3s0 --localnet\n",[25,396,397,408,414],{"__ignoreMap":39},[43,398,399,402,405],{"class":45,"line":46},[43,400,401],{"class":60},"arp-scan",[43,403,404],{"class":49}," --interface=enp3s0",[43,406,407],{"class":53}," 192.168.1.0\u002F24\n",[43,409,410],{"class":45,"line":57},[43,411,413],{"class":412},"sJ8bj","# 或者\n",[43,415,416,418,420],{"class":45,"line":76},[43,417,401],{"class":60},[43,419,404],{"class":49},[43,421,422],{"class":49}," --localnet\n",[21,424,425,426,32],{},"如下图，扫出来是",[25,427,428],{},"192.168.1.107",[21,430,431,432],{},"可以ping一下：",[25,433,434],{},"ping 192.168.1.107",[21,436,437],{},[193,438],{"alt":39,"src":439},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791037935797-704a1a9e.webp",[21,441,442],{},"项目里至少有两份 Mid360 配置，建议都改掉，避免以后单独启动驱动和整套 reality launch 用到不同 IP：",[34,444,446],{"className":36,"code":445,"language":38,"meta":39,"style":39},"# 单独测试mid360的launch的配置（和导航无关）\nsrc\u002Fpb2025_sentry_nav\u002Flivox_ros_driver2\u002Fconfig\u002FMID360_config.json\n\n# 集成于导航里的mid360真实的配置\nsrc\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fconfig\u002Freality\u002Fmid360_user_config.json\n",[25,447,448,453,458,464,469],{"__ignoreMap":39},[43,449,450],{"class":45,"line":46},[43,451,452],{"class":412},"# 单独测试mid360的launch的配置（和导航无关）\n",[43,454,455],{"class":45,"line":57},[43,456,457],{"class":60},"src\u002Fpb2025_sentry_nav\u002Flivox_ros_driver2\u002Fconfig\u002FMID360_config.json\n",[43,459,460],{"class":45,"line":76},[43,461,463],{"emptyLinePlaceholder":462},true,"\n",[43,465,466],{"class":45,"line":84},[43,467,468],{"class":412},"# 集成于导航里的mid360真实的配置\n",[43,470,471],{"class":45,"line":95},[43,472,473],{"class":60},"src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fconfig\u002Freality\u002Fmid360_user_config.json\n",[21,475,476],{},"把下面这些",[34,478,482],{"className":479,"code":480,"language":481,"meta":39,"style":39},"language-json shiki shiki-themes github-light github-dark","\"ip\": \"192.168.1.146\"\n\n\"cmd_data_ip\": \"192.168.1.50\",\n\"push_msg_ip\": \"192.168.1.50\",\n\"point_data_ip\": \"192.168.1.50\",\n\"imu_data_ip\": \"192.168.1.50\"\n","json",[25,483,484,496,500,513,524,535],{"__ignoreMap":39},[43,485,486,489,493],{"class":45,"line":46},[43,487,488],{"class":53},"\"ip\"",[43,490,492],{"class":491},"sVt8B",": ",[43,494,495],{"class":53},"\"192.168.1.146\"\n",[43,497,498],{"class":45,"line":57},[43,499,463],{"emptyLinePlaceholder":462},[43,501,502,505,507,510],{"class":45,"line":76},[43,503,504],{"class":53},"\"cmd_data_ip\"",[43,506,492],{"class":491},[43,508,509],{"class":53},"\"192.168.1.50\"",[43,511,512],{"class":491},",\n",[43,514,515,518,520,522],{"class":45,"line":84},[43,516,517],{"class":53},"\"push_msg_ip\"",[43,519,492],{"class":491},[43,521,509],{"class":53},[43,523,512],{"class":491},[43,525,526,529,531,533],{"class":45,"line":95},[43,527,528],{"class":53},"\"point_data_ip\"",[43,530,492],{"class":491},[43,532,509],{"class":53},[43,534,512],{"class":491},[43,536,538,541,543],{"class":45,"line":537},6,[43,539,540],{"class":53},"\"imu_data_ip\"",[43,542,492],{"class":491},[43,544,545],{"class":53},"\"192.168.1.50\"\n",[21,547,548],{},"改为",[34,550,552],{"className":479,"code":551,"language":481,"meta":39,"style":39},"\"ip\": \"192.168.1.107\"\n\n\"cmd_data_ip\": \"192.168.1.50\",\n\"push_msg_ip\": \"192.168.1.50\",\n\"point_data_ip\": \"192.168.1.50\",\n\"imu_data_ip\": \"192.168.1.50\"\n",[25,553,554,563,567,577,587,597],{"__ignoreMap":39},[43,555,556,558,560],{"class":45,"line":46},[43,557,488],{"class":53},[43,559,492],{"class":491},[43,561,562],{"class":53},"\"192.168.1.107\"\n",[43,564,565],{"class":45,"line":57},[43,566,463],{"emptyLinePlaceholder":462},[43,568,569,571,573,575],{"class":45,"line":76},[43,570,504],{"class":53},[43,572,492],{"class":491},[43,574,509],{"class":53},[43,576,512],{"class":491},[43,578,579,581,583,585],{"class":45,"line":84},[43,580,517],{"class":53},[43,582,492],{"class":491},[43,584,509],{"class":53},[43,586,512],{"class":491},[43,588,589,591,593,595],{"class":45,"line":95},[43,590,528],{"class":53},[43,592,492],{"class":491},[43,594,509],{"class":53},[43,596,512],{"class":491},[43,598,599,601,603],{"class":45,"line":537},[43,600,540],{"class":53},[43,602,492],{"class":491},[43,604,545],{"class":53},[21,606,607],{},"最终：",[34,609,614],{"className":610,"code":612,"language":613,"meta":39},[611],"language-text","Mid360\n192.168.1.107\n        ↕\n工控机 enp3s0\n192.168.1.50\n","text",[25,615,612],{"__ignoreMap":39},[21,617,618,619,622,623,626],{},"现在为了单独测试 Mid360，而",[25,620,621],{},"\u002Fsrc\u002Fpb2025_sentry_nav\u002Flivox_ros_driver2\u002Flaunch\u002Fmsg_MID360_launch.py","和实车代码",[25,624,625],{},"reality\u002Fnav2_params.yaml","不一样，所以建议改一下，测试更好测试一下。",[21,628,629,630,633],{},"然后把",[25,631,632],{},"msg_MID360_launch.py","里的：",[34,635,639],{"className":636,"code":637,"language":638,"meta":39,"style":39},"language-python shiki shiki-themes github-light github-dark","publish_freq = 10.0\nframe_id = 'livox_frame'\n","python",[25,640,641,653],{"__ignoreMap":39},[43,642,643,646,650],{"class":45,"line":46},[43,644,645],{"class":491},"publish_freq ",[43,647,649],{"class":648},"szBVR","=",[43,651,652],{"class":49}," 10.0\n",[43,654,655,658,660],{"class":45,"line":57},[43,656,657],{"class":491},"frame_id ",[43,659,649],{"class":648},[43,661,662],{"class":53}," 'livox_frame'\n",[21,664,665],{},"改成",[34,667,669],{"className":636,"code":668,"language":638,"meta":39,"style":39},"publish_freq = 20.0\nframe_id = 'front_mid360'\n",[25,670,671,680],{"__ignoreMap":39},[43,672,673,675,677],{"class":45,"line":46},[43,674,645],{"class":491},[43,676,649],{"class":648},[43,678,679],{"class":49}," 20.0\n",[43,681,682,684,686],{"class":45,"line":57},[43,683,657],{"class":491},[43,685,649],{"class":648},[43,687,688],{"class":53}," 'front_mid360'\n",[21,690,691],{},"如此，我们的：",[34,693,695],{"className":36,"code":694,"language":38,"meta":39,"style":39},"# 单独测试mid360\nros2 launch livox_ros_driver2 msg_MID360_launch.py\n# 导航\nros2 launch pb2025_nav_bringup rm_navigation_reality_launch.py\n",[25,696,697,702,714,719],{"__ignoreMap":39},[43,698,699],{"class":45,"line":46},[43,700,701],{"class":412},"# 单独测试mid360\n",[43,703,704,706,708,711],{"class":45,"line":57},[43,705,61],{"class":60},[43,707,64],{"class":53},[43,709,710],{"class":53}," livox_ros_driver2",[43,712,713],{"class":53}," msg_MID360_launch.py\n",[43,715,716],{"class":45,"line":76},[43,717,718],{"class":412},"# 导航\n",[43,720,721,723,725,728],{"class":45,"line":84},[43,722,61],{"class":60},[43,724,64],{"class":53},[43,726,727],{"class":53}," pb2025_nav_bringup",[43,729,730],{"class":53}," rm_navigation_reality_launch.py\n",[21,732,733],{},"这俩的mid360相关参数就改好了。",[319,735,736],{"id":736},"测试mid360是否正常开启",[21,738,739],{},"修改完毕就可以：",[34,741,743],{"className":36,"code":742,"language":38,"meta":39,"style":39},"source install\u002Fsetup.bash\nros2 launch livox_ros_driver2 msg_MID360_launch.py\n",[25,744,745,751],{"__ignoreMap":39},[43,746,747,749],{"class":45,"line":46},[43,748,50],{"class":49},[43,750,54],{"class":53},[43,752,753,755,757,759],{"class":45,"line":57},[43,754,61],{"class":60},[43,756,64],{"class":53},[43,758,710],{"class":53},[43,760,713],{"class":53},[21,762,763],{},"进行测试。",[21,765,766],{},"查看mid360话题是否发布了",[34,768,770],{"className":36,"code":769,"language":38,"meta":39,"style":39},"ros2 topic list | grep livox\n",[25,771,772],{"__ignoreMap":39},[43,773,774,776,779,782,785,788],{"class":45,"line":46},[43,775,61],{"class":60},[43,777,778],{"class":53}," topic",[43,780,781],{"class":53}," list",[43,783,784],{"class":648}," |",[43,786,787],{"class":60}," grep",[43,789,790],{"class":53}," livox\n",[34,792,794],{"className":36,"code":793,"language":38,"meta":39,"style":39},"\u002Flivox\u002Flidar\n\u002Flivox\u002Flidar\u002Fpointcloud\n\u002Flivox\u002Fimu\n",[25,795,796,801,806],{"__ignoreMap":39},[43,797,798],{"class":45,"line":46},[43,799,800],{"class":60},"\u002Flivox\u002Flidar\n",[43,802,803],{"class":45,"line":57},[43,804,805],{"class":60},"\u002Flivox\u002Flidar\u002Fpointcloud\n",[43,807,808],{"class":45,"line":76},[43,809,810],{"class":60},"\u002Flivox\u002Fimu\n",[21,812,813],{},[193,814],{"alt":39,"src":815},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791096692226-43ee6b5b.webp",[21,817,818],{},"然后查看雷达和imu的频率：",[34,820,822],{"className":36,"code":821,"language":38,"meta":39,"style":39},"source install\u002Fsetup.bash\nros2 topic hz \u002Flivox\u002Flidar\nros2 topic hz \u002Flivox\u002Fimu\nros2 topic hz \u002Flivox\u002Flidar\u002Fpointcloud\n",[25,823,824,830,842,853],{"__ignoreMap":39},[43,825,826,828],{"class":45,"line":46},[43,827,50],{"class":49},[43,829,54],{"class":53},[43,831,832,834,836,839],{"class":45,"line":57},[43,833,61],{"class":60},[43,835,778],{"class":53},[43,837,838],{"class":53}," hz",[43,840,841],{"class":53}," \u002Flivox\u002Flidar\n",[43,843,844,846,848,850],{"class":45,"line":76},[43,845,61],{"class":60},[43,847,778],{"class":53},[43,849,838],{"class":53},[43,851,852],{"class":53}," \u002Flivox\u002Fimu\n",[43,854,855,857,859,861],{"class":45,"line":84},[43,856,61],{"class":60},[43,858,778],{"class":53},[43,860,838],{"class":53},[43,862,863],{"class":53}," \u002Flivox\u002Flidar\u002Fpointcloud\n",[21,865,866],{},"可以在电脑和工控机上都试一下，工控机全显示就没啥问题，电脑有不显示的可能是数据包大小的问题，但DDS一般没问题。",[21,868,869],{},"lidar和pointcloud应该是20hz,而imu是200hz。",[21,871,872],{},[193,873],{"alt":39,"src":874},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791096915919-afb8db1e.webp",[21,876,877],{},[193,878],{"alt":39,"src":879},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791097194218-47b89a28.webp",[21,881,882,883,886],{},"比如说",[25,884,885],{},"ros2 topic hz \u002Flivox\u002Flidar","可能在电脑上一直不显示，但在工控机上显示，则输入下面这俩命令在电脑上：",[34,888,890],{"className":36,"code":889,"language":38,"meta":39,"style":39},"ros2 topic echo \u002Flivox\u002Flidar --once --field point_num\nros2 topic echo \u002Flivox\u002Flidar --once --field timebase\n",[25,891,892,913],{"__ignoreMap":39},[43,893,894,896,898,901,904,907,910],{"class":45,"line":46},[43,895,61],{"class":60},[43,897,778],{"class":53},[43,899,900],{"class":53}," echo",[43,902,903],{"class":53}," \u002Flivox\u002Flidar",[43,905,906],{"class":49}," --once",[43,908,909],{"class":49}," --field",[43,911,912],{"class":53}," point_num\n",[43,914,915,917,919,921,923,925,927],{"class":45,"line":57},[43,916,61],{"class":60},[43,918,778],{"class":53},[43,920,900],{"class":53},[43,922,903],{"class":53},[43,924,906],{"class":49},[43,926,909],{"class":49},[43,928,929],{"class":53}," timebase\n",[21,931,932],{},[193,933],{"alt":39,"src":934},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791097373406-8cfd26a8.webp",[21,936,937,938,941],{},"如果这两个能出来，就说明：\n",[25,939,940],{},"\u002Flivox\u002Flidar"," 实际上也能跨机器收到，只是 ros2 topic hz 这条 CLI 在你这个 CustomMsg 上表现不正常。",[21,943,944],{},"再确认点云 frame：",[34,946,948],{"className":36,"code":947,"language":38,"meta":39,"style":39},"ros2 topic echo \u002Flivox\u002Flidar\u002Fpointcloud --once\n",[25,949,950],{"__ignoreMap":39},[43,951,952,954,956,958,961],{"class":45,"line":46},[43,953,61],{"class":60},[43,955,778],{"class":53},[43,957,900],{"class":53},[43,959,960],{"class":53}," \u002Flivox\u002Flidar\u002Fpointcloud",[43,962,963],{"class":49}," --once\n",[21,965,966],{},[193,967],{"alt":39,"src":968},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791096961604-3f4a2c73.webp",[21,970,971,972,975],{},"确认下frame是咱们设置的",[25,973,974],{},"frame_id: front_mid360","。",[21,977,978],{},"然后打开一个rviz2：",[34,980,982],{"className":36,"code":981,"language":38,"meta":39,"style":39},"rviz2\n",[25,983,984],{"__ignoreMap":39},[43,985,986],{"class":45,"line":46},[43,987,981],{"class":60},[21,989,990,991,994,995,998,999,975],{},"然后在rviz2里把",[25,992,993],{},"Fixed Frame = front_mid360","修改好。\n然后在rviz2里点",[25,996,997],{},"By Topic","，然后选择",[25,1000,1001],{},"\u002Flivox\u002Flidar\u002Fpointcloud",[21,1003,1004],{},[193,1005],{"alt":39,"src":1006},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791098108953-ccc60cec.webp",[21,1008,1009],{},"先确认能看到正常环境点云。",[21,1011,1012],{},"如果都正常，那么mid360就正常开启了。",[21,1014,1015],{},"出现问题，雷达的hz特别的小：",[21,1017,1018],{},"这个现象很像不是 Mid360 真掉到 3 Hz，而是 RELIABLE 大点云被远端订阅者拖慢了。\n这版驱动的 \u002Flivox\u002Flidar\u002Fpointcloud publisher 是默认 QoS，也就是你前面看到的那种 RELIABLE。一帧约 257 KB，20 Hz 单独 PointCloud2 就约 41 Mb\u002Fs。ROS 2 的 DDS\u002FQoS 本身支持不同可靠性策略；对这类高频传感器数据，让显示\u002F调试端用“允许丢旧帧、优先拿最新帧”的方式通常更合适。ROS Documentation\n而且一个慢的远程 RELIABLE reader，可能让 writer 做重传、排队甚至产生反压。于是你会看到一个很反直觉的现象",[34,1020,1023],{"className":1021,"code":1022,"language":613,"meta":39},[611],"电脑\u002FRViz 收得慢\n       ↓\nRELIABLE 重传\u002F积压\n       ↓\n工控机 publisher 也被拖住\n       ↓\n连工控机本地 ros2 topic hz 看起来都只剩 3 Hz\n",[25,1024,1022],{"__ignoreMap":39},[21,1026,1027],{},"解决方案：",[21,1029,1030,1031],{},"详见",[1032,1033,1035],"a",{"href":1034},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0600-kai-fa-wen-ti-yu-pai-cha#ros-2-%E8%BF%9C%E7%AB%AF%E6%9F%A5%E7%9C%8B-mid360-%E7%82%B9%E4%BA%91%E5%AF%BC%E8%87%B4%E9%99%8D%E9%A2%91-%E5%BB%B6%E8%BF%9F%E5%92%8C-rviz-%E4%B8%8D%E6%98%BE%E7%A4%BA","ROS 2 远端查看 MID360 点云导致降频、延迟和 RViz 不显示",[319,1037,1039],{"id":1038},"联合tf测试下是否整套是否成功","联合TF测试下是否整套是否成功",[21,1041,1042],{},"总体框架就是：",[1044,1045,1046,1056],"ul",{},[154,1047,1048,1051,1052,1055],{},[25,1049,1050],{},"livox_ros_driver2","和 ",[25,1053,1054],{},"serial_comm"," 由工控机开启。",[154,1057,1058,1061],{},[25,1059,1060],{},"robot_state_publisher"," 由电脑或者工控机开启。",[34,1063,1065],{"className":36,"code":1064,"language":38,"meta":39,"style":39},"                    工控机\nSTM32\n  ↓\nserial_comm\n  ↓\n\u002Fserial\u002Fgimbal_joint_state\n             │\n             │ DDS\n             ▼\n                    电脑\njoint_state_publisher\n  ↓\n\u002Fjoint_states\n  ↓\nrobot_state_publisher\n  ↓\nTF\nchassis → gimbal_yaw_odom → front_mid360\n\n\nMid360\n  ↓ Ethernet\nlivox_ros_driver2        （工控机）\n  ↓\n\u002Flivox\u002Flidar\n\u002Flivox\u002Flidar\u002Fpointcloud\n\u002Flivox\u002Fimu\n             │\n             │ DDS\n             ▼\n           RViz          （电脑）\n",[25,1066,1067,1072,1077,1082,1087,1091,1096,1102,1111,1117,1123,1129,1134,1140,1145,1151,1156,1162,1178,1183,1188,1194,1203,1211,1216,1221,1226,1231,1236,1243,1248],{"__ignoreMap":39},[43,1068,1069],{"class":45,"line":46},[43,1070,1071],{"class":60},"                    工控机\n",[43,1073,1074],{"class":45,"line":57},[43,1075,1076],{"class":60},"STM32\n",[43,1078,1079],{"class":45,"line":76},[43,1080,1081],{"class":60},"  ↓\n",[43,1083,1084],{"class":45,"line":84},[43,1085,1086],{"class":60},"serial_comm\n",[43,1088,1089],{"class":45,"line":95},[43,1090,1081],{"class":60},[43,1092,1093],{"class":45,"line":537},[43,1094,1095],{"class":60},"\u002Fserial\u002Fgimbal_joint_state\n",[43,1097,1099],{"class":45,"line":1098},7,[43,1100,1101],{"class":60},"             │\n",[43,1103,1105,1108],{"class":45,"line":1104},8,[43,1106,1107],{"class":60},"             │",[43,1109,1110],{"class":53}," DDS\n",[43,1112,1114],{"class":45,"line":1113},9,[43,1115,1116],{"class":60},"             ▼\n",[43,1118,1120],{"class":45,"line":1119},10,[43,1121,1122],{"class":60},"                    电脑\n",[43,1124,1126],{"class":45,"line":1125},11,[43,1127,1128],{"class":60},"joint_state_publisher\n",[43,1130,1132],{"class":45,"line":1131},12,[43,1133,1081],{"class":60},[43,1135,1137],{"class":45,"line":1136},13,[43,1138,1139],{"class":60},"\u002Fjoint_states\n",[43,1141,1143],{"class":45,"line":1142},14,[43,1144,1081],{"class":60},[43,1146,1148],{"class":45,"line":1147},15,[43,1149,1150],{"class":60},"robot_state_publisher\n",[43,1152,1154],{"class":45,"line":1153},16,[43,1155,1081],{"class":60},[43,1157,1159],{"class":45,"line":1158},17,[43,1160,1161],{"class":60},"TF\n",[43,1163,1165,1168,1171,1174,1176],{"class":45,"line":1164},18,[43,1166,1167],{"class":60},"chassis",[43,1169,1170],{"class":53}," →",[43,1172,1173],{"class":53}," gimbal_yaw_odom",[43,1175,1170],{"class":53},[43,1177,228],{"class":53},[43,1179,1181],{"class":45,"line":1180},19,[43,1182,463],{"emptyLinePlaceholder":462},[43,1184,1186],{"class":45,"line":1185},20,[43,1187,463],{"emptyLinePlaceholder":462},[43,1189,1191],{"class":45,"line":1190},21,[43,1192,1193],{"class":60},"Mid360\n",[43,1195,1197,1200],{"class":45,"line":1196},22,[43,1198,1199],{"class":60},"  ↓",[43,1201,1202],{"class":53}," Ethernet\n",[43,1204,1206,1208],{"class":45,"line":1205},23,[43,1207,1050],{"class":60},[43,1209,1210],{"class":53},"        （工控机）\n",[43,1212,1214],{"class":45,"line":1213},24,[43,1215,1081],{"class":60},[43,1217,1219],{"class":45,"line":1218},25,[43,1220,800],{"class":60},[43,1222,1224],{"class":45,"line":1223},26,[43,1225,805],{"class":60},[43,1227,1229],{"class":45,"line":1228},27,[43,1230,810],{"class":60},[43,1232,1234],{"class":45,"line":1233},28,[43,1235,1101],{"class":60},[43,1237,1239,1241],{"class":45,"line":1238},29,[43,1240,1107],{"class":60},[43,1242,1110],{"class":53},[43,1244,1246],{"class":45,"line":1245},30,[43,1247,1116],{"class":60},[43,1249,1251,1254],{"class":45,"line":1250},31,[43,1252,1253],{"class":60},"           RViz",[43,1255,1256],{"class":53},"          （电脑）\n",[21,1258,1259],{},"工控机：",[34,1261,1262],{"className":36,"code":742,"language":38,"meta":39,"style":39},[25,1263,1264,1270],{"__ignoreMap":39},[43,1265,1266,1268],{"class":45,"line":46},[43,1267,50],{"class":49},[43,1269,54],{"class":53},[43,1271,1272,1274,1276,1278],{"class":45,"line":57},[43,1273,61],{"class":60},[43,1275,64],{"class":53},[43,1277,710],{"class":53},[43,1279,713],{"class":53},[34,1281,1282],{"className":36,"code":129,"language":38,"meta":39,"style":39},[25,1283,1284,1290],{"__ignoreMap":39},[43,1285,1286,1288],{"class":45,"line":46},[43,1287,50],{"class":49},[43,1289,54],{"class":53},[43,1291,1292,1294,1296,1298],{"class":45,"line":57},[43,1293,61],{"class":60},[43,1295,64],{"class":53},[43,1297,146],{"class":53},[43,1299,149],{"class":53},[21,1301,1302],{},"电脑：",[34,1304,1305],{"className":36,"code":37,"language":38,"meta":39,"style":39},[25,1306,1307,1313,1325,1331,1339],{"__ignoreMap":39},[43,1308,1309,1311],{"class":45,"line":46},[43,1310,50],{"class":49},[43,1312,54],{"class":53},[43,1314,1315,1317,1319,1321,1323],{"class":45,"line":57},[43,1316,61],{"class":60},[43,1318,64],{"class":53},[43,1320,67],{"class":53},[43,1322,70],{"class":53},[43,1324,73],{"class":49},[43,1326,1327,1329],{"class":45,"line":76},[43,1328,79],{"class":53},[43,1330,73],{"class":49},[43,1332,1333,1335,1337],{"class":45,"line":84},[43,1334,87],{"class":53},[43,1336,90],{"class":49},[43,1338,73],{"class":49},[43,1340,1341,1343],{"class":45,"line":95},[43,1342,98],{"class":53},[43,1344,101],{"class":49},[21,1346,1347,1348,1351],{},"RViz 的 Fixed Frame 理解成 “我站在哪个坐标系里看整个世界？”\n而点云坐标系是",[25,1349,1350],{},"frame_id = front_mid360","，\n也就是说，每一帧原始点云都是“以雷达自身为原点”描述的。",[1353,1354,1355,1371],"table",{},[1356,1357,1358],"thead",{},[1359,1360,1361,1365,1368],"tr",{},[1362,1363,1364],"th",{},"RViz Fixed Frame",[1362,1366,1367],{},"你转云台 yaw 时",[1362,1369,1370],{},"你整车移动时",[1372,1373,1374,1391,1405],"tbody",{},[1359,1375,1376,1382,1388],{},[1377,1378,1379],"td",{},[25,1380,1381],{},"front_mid360",[1377,1383,1384],{},[1385,1386,1387],"strong",{},"环境点云会动\u002F转",[1377,1389,1390],{},"环境也会动",[1359,1392,1393,1397,1402],{},[1377,1394,1395],{},[25,1396,1167],{},[1377,1398,1399],{},[1385,1400,1401],{},"环境应基本不动",[1377,1403,1404],{},"环境会动",[1359,1406,1407,1416,1418],{},[1377,1408,1409,1412,1413],{},[25,1410,1411],{},"odom"," \u002F ",[25,1414,1415],{},"map",[1377,1417,1401],{},[1377,1419,1420],{},"有正确里程计\u002F定位后，环境也应基本不动",[1422,1423,1424],"style",{},"html pre.shiki code .sj4cs, html code.shiki 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