使用catkin编译，执行如下操作
catkin_make
source devel/setup.bash
roslaunch ldlidar ld19.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。
Compile with catkin and do the following
catkin_make
source devel/setup.bash
roslaunch ldlidar ld19.launch
or
rosrun ldlidar ldlidar The configuration for rviz is under the rviz folder.
The code was tested under Ubuntu 16.04 Kinetic version, visualized using RVIZ.