/sdk_ld06_raspberry_ros

DTOF COAXIAL BRUSHLESS LiDAR with Raspberry pi SBC

Primary LanguageC++MIT LicenseMIT

操作指南

此SDK仅适用于深圳乐动机器人有限公司销售的激光雷达产品，产品型号为LDROBOT LiDAR LD06. 应用环境为ROS.

0.获取源码

cd ~
git clone https://github.com/ldrobotSensorTeam/sdk_ld06_raspberry_ros.git

1. 设置

  • 将雷达连接到你的系统主板，设置雷达在系统中挂载的串口设备-x权限(以/dev/ttyS0为例)
    • 实际使用时，根据雷达在你的系统中的实际挂载情况来设置，可以使用ls -l /dev命令查看.
sudo chmod 777 /dev/ttyS0
  • 修改~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch文件中的port_name值，以/dev/ttyS0为例，如下所示.
<launch>
<node name="LD06" pkg="ldlidar" type="ldlidar" output="screen" >
<param name="topic_name" value="LiDAR/LD06"/>
<param name="port_name" value ="/dev/ttyS0"/>
<param name="frame_id" value="lidar_frame"/>
</node>
</launch>

2. 编译与运行

  • 编译
cd ~/sdk_ld06_raspberry_ros/
catkin_make
  • 运行
source devel/setup.bash
roslaunch ldlidar ld06.launch

3. 数据可视化

  • 在确保编译与运行成功后，请另外打开一个终端，运行rosrun rviz rviz打开ROS的RVIZ工具

  • 在RVIZ工具中打开~/sdk_ld06_raspberry_ros/rviz/ldlidar.rviz即可显示雷达数据，或者利用~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch中的topic_name与frame_id的值在RVIZ工具中自行配置

  • 如果使用Ubuntu16.04 kinetic 版本以上的ROS,建议自行配置rviz文件

Instructions

This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co., LTD. The product models are LDROBOT LiDAR LD06. The application environment is ROS.

step 0: Access to the source code

cd ~
git clone https://github.com/ldrobotSensorTeam/sdk_ld06_raspberry_ros.git

step 1: setup

  • Set the permission of serial port device mounted by LiDAR in the system(example:device name is /dev/ttyS0)
    • The actual use of the radar is based on the actual mounted on your system, you can use the ls -l /dev command to view.
sudo chmod 777 /dev/ttyS0
  • Modify port_name value in the ~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch files,

for example /dev/ttyS0.

<launch>
<node name="LD06" pkg="ldlidar" type="ldlidar" output="screen" >
<param name="topic_name" value="LiDAR/LD06"/>
<param name="port_name" value ="/dev/ttyS0"/>
<param name="frame_id" value="lidar_frame"/>
</node>
</launch>

step 2: build and run

  • build
cd ~/sdk_ld06_raspberry_ros/
catkin_make
  • run
source devel/setup.bash
roslaunch ldlidar ld06.launch

step 3: Data visualization

  • After making sure that the compilation and operation are successful, please open another terminal and run rosrun rviz rviz to open the ROS rviz tool.

  • Open ~/sdk_ld06_raspberry_ros/rviz/ldlidar.rviz in the RVIZ tool to display radar data.

    Or using ~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch , The launch file of topic_name and frame_id values in RVIZ tool to configure.

  • It is recommended that you configure your own rviz file if you use Ubuntu16.04 kinetic or higher