This is an attempt to fix and improve the driver provided by LDRobots in their website

cd <your_ws> 
git clone -b ros2 https://github.com/linoroot/ldlidar src/ldlidar
rosdep update && rosdep install --from-path src --ignore-src -y
colcon build
source install/setup.bash

ros2 launch ldlidar ldlidar.launch.py

Optional Parameters:

• serial_port used to override the autodetect and select a specific port.
• lidar_frame used to override the default laser frame_id.
• topic_name used to override the default scan topic name.

For example:

ros2 launch ldlidar ldlidar.launch.py serial_port:=/dev/ttyUSB0

---- Original readme ----

使用catkin编译，执行如下操作

catkin_make

source devel/setup.bash
roslaunch ldlidar LD06.launch 

or

rosrun ldlidar ldlidar 

rviz的配置在rviz文件夹下面。

代码在ubuntun16.04 kinetic版本下测试，使用rviz可视化。