barcesat/cyglidar_d1

cyglidar_d1

cyglidar_d1 is a ROS package, which is designed to visualize 2D/3D distance dataset in real-time. For more details in CygLiDAR, please visit http://www.cygbot.com

How to use this package

Preparation - for ROS NOETIC

sudo apt install libpcl-dev

1. Clone this repository to your catkin's workspace
2. Run catkin build -DCMAKE_CXX_STANDARD=14

Set-Up

Install the udev rule

roscd cyglidar_d1
cd scripts
chmod +x create_udev_rules.sh
./create_udev_rules.sh

Parameters

In cyglidar.launch, the version number can be switched to 0, 1 and 2 for 2D, 3D and 2D/3D respectively as below:

2D)

3D)

2D/3D)

Run

roslaunch cyglidar_d1 cyglidar.launch

Note

In Rviz, the fixed frame and the topics for Point Cloud are as follows:

Fixed Frame

/laser_link

Topic

/scan_laser
/scan_2D
/scan_3D