V2 ROS1 interface reference

Compile

Install the Qt5 Core and Network components. Installation commands vary by Linux distribution; the following example uses Ubuntu:

sudo apt install qtbase5-dev qtbase5-dev-tools libqt5network5

Download and compile libzip from the libzip download page according to the official instructions. Compile the ROS package from /V2-ROS-SDK-service, which is at the same level as src:

catkin_make

Run

If ROS master/slave settings are enabled on the camera, disable them before running the ROS sample. After powering on the camera, wait about 20 seconds before starting the sample.

From home/username/V2_ROS_SDK, which is at the same level as src, run:

catkin_make
source devel/setup.bash

ROS topic interfaces

Before testing an interface, power on the camera and wait about 30 seconds for the built-in program to start. Then start the ROS SDK node.

Use case	Related topics
Localization	Pose, localization status, map switching, and relocalization
Mapping	Mapping status and progress
Maintenance and configuration	Storage usage, faulty modules, parameter settings, and map upload/download

Receive localization pose

ROS continuously receives the camera’s x, y, and theta values, publishes these values and the quaternion converted from theta to LxCamera_LocationPoseResult, and broadcasts the pose through TF.

rostopic echo /lx_localization_node/LxCamera_LocationPoseResult

Receive localization status

ROS receives the camera’s localization status (true or false) at 1 Hz and publishes it as std_msgs::Bool on LxCamera_LocationResult.

rostopic echo /lx_localization_node/LxCamera_LocationResult

Receive camera storage usage

ROS receives the camera’s storage usage ratio at 2 Hz and publishes it as std_msgs::Float32 on LxCamera_Capacity_Status.

rostopic echo /lx_localization_node/LxCamera_Capacity_Status

Receive the faulty module name

ROS receives the name of a faulty module from the camera and publishes it as std_msgs::String on LxCamera_Module_Error.

rostopic echo /lx_localization_node/LxCamera_Module_Error

Receive mapping status

After mapping starts, ROS publishes the mapping status as std_msgs::Bool on LxCamera_MappingState.

rostopic echo /lx_localization_node/LxCamera_MappingState

Receive mapping progress

After mapping starts, ROS publishes the mapping progress (0–100) as std_msgs::Int32 on LxCamera_Mapping_Progress.

rostopic echo /lx_localization_node/LxCamera_Mapping_Progress

Set parameters

Publish a std_msgs/String message to LxCamera_SetParam. The message contains nine floating-point values separated by commas: x,y,z,yaw,pitch,roll,x,y,yaw. The first six values define the camera pose; the last three define the LiDAR pose. After a successful update, the corresponding values in the [Laser1] and [Camera1] sections of /home/fr1511b/hontai/params/config_install_FL21500HAF.ini are updated.

source devel/setup.bash
rostopic pub -1 /lx_localization_node/LxCamera_SetParam std_msgs/String "11,11,10.2,11.2,12.2,13.2,2,2,2"

Switch maps

Publish a std_msgs/String message containing the name of a completed map to LxCamera_SwitchMap. Refresh the camera web interface. If the displayed map name changes, the switch succeeded.

source devel/setup.bash
rostopic pub -1 /lx_localization_node/LxCamera_SwitchMap std_msgs/String "for"

Upload odometry

Publish nav_msgs::Odometry data to /sim/odom (the topic can be changed).

rostopic pub /odom nav_msgs/Odometry "header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: 'odom' child_frame_id: 'base_link' pose: pose: position: x: 1.0 y: 2.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.5 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.1 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

# Enter the lx_camera_udp directory.
source devel/setup.bash
rostopic pub -1 /lx_localization_node/sim/odom std_msgs/String "for"

Download the contour map

Publish a std_msgs/String message to LxCamera_DownloadMap.
The message contains an absolute host path and a map name, separated by a comma. The map name is the .zip file name of a completed map on the camera.
After a successful download, the specified host path contains the map archive. Extract it to obtain a PGM map file and a YAML configuration file.

# Enter the lx_camera_udp directory.
source devel/setup.bash
rostopic pub -1 /lx_localization_node/LxCamera_DownloadMap std_msgs/String "/home/zsure/LANXIN,TEST_999"

Upload a map ZIP file (new)

Publish a std_msgs/String message to LxCamera_UploadMapZip.
The message contains the path to the map archive to upload, for example /home/fr1511b/map.zip. Use an archive downloaded through the map download interface.
If the map is found, the SDK sends it to the camera. The camera extracts it to /home/fr1511b/hontai/map/.

rostopic pub -1 /lx_localization_node/LxCamera_UploadMapZip std_msgs/String "map_path"

Relocalize

Publish geometry_msgs::PoseWithCovarianceStamped data to LxCamera_UploadReloc.
The pose contains the LiDAR pose: x, y, and yaw.
Relocalization succeeds when the position shown in the camera web interface updates to the sent pose.

rostopic pub -1 /lx_localization_node/LxCamera_UploadReloc geometry_msgs/PoseWithCovarianceStamped "
header:
  frame_id: ''
pose:
  pose:
    position:
      x: 0.0
      y: 0.0
      z: 0.0
    orientation:
      x: 0
      y: 0
      z: -0.694658
      w: 0.71934
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

Quaternions are constrained and must not be filled in arbitrarily. Use the Euler-to-quaternion converter to convert an Euler yaw angle to quaternion xyzw values.

ROS service interfaces

Mapping, map switching, map downloading, and relocalization are also available through ROS services. A service response of true indicates success; false indicates failure. For operations that require confirmation, prefer the service interface.

Use rosservice call for the following commands. Map names must not start with a number and must be no longer than 30 characters.

Build a map

Service name: /lx_localization_node/LxCamera_Mapping_srv Service definition:

bool status      # Start mapping: 1; stop mapping: 0
string mapname   # Map name; must not start with a number and must be no longer than 30 characters
---
bool result

Call the service:

rosservice call /lx_localization_node/LxCamera_Mapping_srv "status: true
mapname: 'test_map'"

Switch maps

Service name: /lx_localization_node/LxCamera_SwitchMap_srv Service definition:

string mapname   # Map name; must not start with a number and must be no longer than 30 characters
---
bool result

Call the service:

rosservice call /lx_localization_node/LxCamera_SwitchMap_srv "mapname: 'zszs999'"

Download a map

Service name: /lx_localization_node/LxCamera_DownloadMap_srv Service definition:

string mapname    # Map name; must not start with a number and must be no longer than 30 characters
string save_path  # Absolute save path, for example "/home/lx/map"; omit the trailing slash
---
bool result

Call the service:

rosservice call /lx_localization_node/LxCamera_DownloadMap_srv "mapname: 'TEST_999'
save_path: '/home/fr1511b/T/TEST'"

Relocalize

Service name: /lx_localization_node/LxCamera_UploadReloc_srv Service definition:

geometry_msgs/PoseWithCovarianceStamped pose
---
bool result

Call the service:

rosservice call /lx_localization_node/LxCamera_UploadReloc_srv "pose:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs: 0
    frame_id: 'map'
  pose:
    pose:
      position:
        x: 4.5
        y: -15.5
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.694658
        w: 0.71934
    covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

Get the current map name

Service name: /lx_localization_node/LxCamera_GetCurMapname_srv Service definition:

bool get_cur_mapname # Get the map identifier
---
string mapname      # Current map name

Call the service:

rosservice call /lx_localization_node/LxCamera_GetCurMapname_srv "get_cur_mapname: true"

Get the current map list

Service name: /lx_localization_node/LxCamera_GetMapList_srv Service definition:

bool get_map_list # Get the map list
---
string[] map_list # Map list

Call the service:

rosservice call /lx_localization_node/LxCamera_GetMapList_srv "get_map_list: true"

Exit mapping (custom interface)

Service name: /lx_localization_node/LxCamera_ExitMapping_srv Service definition:

bool exit_mapping # Exit mapping
---
bool state        # true: success; false: failure

Call the service:

rosservice call /lx_localization_node/LxCamera_ExitMapping_srv "exit_mapping: true"

Delete a map

Service name: /lx_localization_node/LxCamera_EraseMap_srv Service definition:

string mapname    # Map name; must not start with a number and must be no longer than 30 characters
---
bool result       # true: success; false: failure

Call the service:

rosservice call /lx_localization_node/LxCamera_EraseMap_srv "mapname: 'TEST888'"

Download a heat map

Service name: /lx_localization_node/LxCamera_DownloadMap_srv Service definition:

string mapname    # Map name; must not start with a number and must be no longer than 30 characters
string save_path  # Absolute save path, for example "/home/lx/map"; omit the trailing slash
---
bool result

Call the service:

rosservice call /lx_localization_node/LxCamera_DownloadHeatMap_srv "mapname: 'TEST_999' save_path: '/home/fr1511b/T/TEST'"

Incremental mapping

Service name: /lx_localization_node/LxCamera_IncMapping_srv Service definition:

bool status      # Start mapping: 1; stop mapping: 0
string mapname   # Map name; must not start with a number and must be no longer than 30 characters
---
bool result

Call the service:

rosservice call /lx_localization_node/LxCamera_IncMapping_srv "status: true
mapname: 'test_map'"

Overview

Camera SDK

Camera tools

ROS integration

V2 localization and protocols

V2 ROS1 interface reference

Compile

Run

ROS topic interfaces

Receive localization pose

Receive localization status

Receive camera storage usage

Receive the faulty module name

Receive mapping status

Receive mapping progress

Set parameters

Switch maps

Upload odometry

Download the contour map

Upload a map ZIP file (new)

Relocalize

ROS service interfaces

Build a map

Switch maps

Download a map

Relocalize

Get the current map name

Get the current map list

Exit mapping (custom interface)

Delete a map

Download a heat map

Incremental mapping

​Compile

​Run

​ROS topic interfaces

​Receive localization pose

​Receive localization status

​Receive camera storage usage

​Receive the faulty module name

​Receive mapping status

​Receive mapping progress

​Set parameters

​Switch maps

​Upload odometry

​Download the contour map

​Upload a map ZIP file (new)

​Relocalize

​ROS service interfaces

​Build a map

​Switch maps

​Download a map

​Relocalize

​Get the current map name

​Get the current map list

​Exit mapping (custom interface)

​Delete a map

​Download a heat map

​Incremental mapping

Compile

Run

ROS topic interfaces

Receive localization pose

Receive localization status

Receive camera storage usage

Receive the faulty module name

Receive mapping status

Receive mapping progress

Set parameters

Switch maps

Upload odometry

Download the contour map

Upload a map ZIP file (new)

Relocalize

ROS service interfaces

Build a map

Switch maps

Download a map

Relocalize

Get the current map name

Get the current map list

Exit mapping (custom interface)

Delete a map

Download a heat map

Incremental mapping