YDLIDAR ROS Driver

ydlidar_ros_driver is a new ros package, which is designed to gradually become the standard driver package for ydlidar devices in the ros environment.

Compile & Install YDLidar SDK

ydlidar_ros_driver depends on YDLidar-SDK library. If you have never installed YDLidar-SDK library or it is out of date, you must first install YDLidar-SDK library. If you have installed the latest version of YDLidar-SDK, skip this step and go to the next step.

Download or clone the YDLIDAR/YDLidar-SDK repository on GitHub.
Compile and install the YDLidar-SDK under the build directory following README.md of YDLIDAR/YDLidar-SDK.

Clone ydlidar_ros_driver

Clone ydlidar_ros_driver package for github :

git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git ydlidar_ws/src/ydlidar_ros_driver
Build ydlidar_ros_driver package :
```
cd ydlidar_ws
catkin_make
```
>Note: If the following error occurs, Please install YDLIDAR/YDLidar-SDK first.
Package environment setup :

source ./devel/setup.sh

Note: Add permanent workspace environment variables. It's convenientif the ROS environment variables are automatically added to your bash session every time a new shell is launched:
```
$echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc
$source ~/.bashrc
```
Confirmation To confirm that your package path has been set, echo the ROS_PACKAGE_PATH variable.
```
$ echo $ROS_PACKAGE_PATH
```
You should see something similar to: /home/tony/ydlidar_ws/src:/opt/ros/melodic/share
Create serial port Alias [optional]
```
$chmod 0777 src/ydlidar_ros_driver/startup/*
$sudo sh src/ydlidar_ros_driver/startup/initenv.sh
```
Note: After completing the previous operation, replug the LiDAR again.

Run ydlidar_ros_driver

Run ydlidar_ros_driver using launch file

The command format is :

roslaunch ydlidar_ros_driver [launch file]

Connect Triangle LiDAR uint(s).

# G4, G5
roslaunch ydlidar_ros_driver lidar_view.launch

Connect to TOF LiDAR uint(s).

# TG15, TG30, TG50
roslaunch ydlidar_ros_driver TG.launch 
# TX8, TX20
roslaunch ydlidar_ros_driver TX.launch

Connect to TOF NET LiDAR uint(s).

# T5, T15
roslaunch ydlidar_ros_driver T15.launch

Launch file introduction

The driver offers users a wealth of options when using different launch file. The launch file directory

is "ydlidar_ws/src/ydlidar_ros_driver/launch". All launch files are listed as below :

launch file	features
G1.launch	Connect to G1 LiDAR Publish LaserScan message on `scan` topic
G2.launch	Connect to G2 LiDAＲ Publish LaserScan message on `scan` topic
G6_G7.launch	Connect to G6/G7 LiDAR Publish LaserScan message on `scan` topic
lidar.launch	Connect to G4/G5 LiDAR Publish LaserScan message on `scan` topic
lidar_view.launch	Connect to G4/G5 LiDAR Publish LaserScan message on `scan` topic Automatically load rviz
T15.launch	Connect to T5/T15 LiDAR Publish LaserScan message on `scan` topic
TG.launch	Connect to TG15/TG30/TG50 LiDAR Publish LaserScan message on `scan` topic
TX.launch	Connect to TX8/TX20 LiDAR Publish LaserScan message on `scan` topic
X2.launch	Connect to X2/X2L LiDAR Publish LaserScan message on `scan` topic
X4.launch	Connect to X4 LiDAR Publish LaserScan message on `scan` topic

Publish Topic

Topic	Type	Description
`scan`	sensor_msgs/LaserScan	2D laser scan of the 0-angle ring
`point_cloud`	sensor_msgs/PointCloud	2D point cloud of the 0-angle ring
~~`laser_fan`~~(removed in version 1.0.1)	ydlidar_ros_driver::LaserFan	2D Raw laser fan of the 0-angle ring

Subscribe Service

Service	Type	Description
`stop_scan`	std_srvs::Empty	turn off lidar
`start_scan`	std_srvs::Empty	turn on lidar

Configure ydlidar_ros_driver internal parameter

The ydlidar_ros_driver internal parameters are in the launch file, they are listed as below :

Parameter name	Data Type	detail
port	string	Set Lidar the serial port or IP address it can be set to `/dev/ttyUSB0`, `192.168.1.11`, etc. default: `/dev/ydlidar`
frame_id	string	Lidar TF coordinate system name. default: `laser_frame`
ignore_array	string	LiDAR filtering angle area eg: `-90, -80, 30, 40`
baudrate	int	Lidar baudrate or network port. default: `230400`
lidar_type	int	Set lidar type 0 -- TYPE_TOF 1 -- TYPE_TRIANGLE 2 -- TYPE_TOF_NET default: `1`
device_type	int	Set device type 0 -- YDLIDAR_TYPE_SERIAL 1 -- YDLIDAR_TYPE_TCP 2 -- YDLIDAR_TYPE_UDP default: `0`
sample_rate	int	Set Lidar Sample Rate. default: `9`
abnormal_check_count	int	Set the number of abnormal startup data attempts. default: `4`
fixed_resolution	bool	Fixed angluar resolution. default: `true`
reversion	bool	Reversion LiDAR. default: `true`
inverted	bool	Inverted LiDAR. false -- ClockWise. true -- CounterClockWise default: `true`
auto_reconnect	bool	Automatically reconnect the LiDAR. true -- hot plug. default: `true`
isSingleChannel	bool	Whether LiDAR is a single-channel. default: `false`
intensity	bool	Whether LiDAR has intensity. true -- G2 LiDAR. default: `false`
support_motor_dtr	bool	Whether the Lidar can be started and stopped by Serial DTR. default: `false`
angle_min	float	Minimum Valid Angle. default: `-180`
angle_max	float	Maximum Valid Angle. default: `180`
range_min	float	Minimum Valid range. default: `0.1`
range_max	float	Maximum Valid range. default: `16.0`
frequency	float	Set Scanning Frequency. default: `10.0`
invalid_range_is_inf	bool	Invalid Range is inf. true -- inf. false -- 0.0. default: `false`
point_cloud_preservative	bool	Keep invalid range. true -- Keep. false -- Reject. default: `false`
More paramters details, see here

Contact EAI

If you have any extra questions, please feel free to contact us

gui1664 / ydlidar_ros_driver Goto Github PK