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.
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 If you have never installed YDLidar-SDK library or it is out of date, you must first install YDLidar-SDK library.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.mdof YDLIDAR/YDLidar-SDK.
-
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.shNote: 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 $source ~/.bashrc -
Confirmation To confirm that your package path has been set, echo the
ROS_PACKAGE_PATHvariable.$ echo $ROS_PACKAGE_PATHYou 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.shNote: After completing the previous operation, replug the LiDAR again.
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
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 |
| 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 |
ydlidar_ros_driver::LaserFan | 2D Raw laser fan of the 0-angle ring |
| Service | Type | Description |
|---|---|---|
stop_scan |
std_srvs::Empty | turn off lidar |
start_scan |
std_srvs::Empty | turn on lidar |
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 |
If you have any extra questions, please feel free to contact us