LeddarSDK

LeddarSDK is c++ cross-platform SDK that allows you to connect to LeddarTech sensors.
Online documentation can be found here

1 - Content Description

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./LeddarSDK.chm                     Documentation generated by Doxygen  
./libs                              3rd party libs needed by the SDK  
./shared                            Structures used by the communication classes  
./src/Leddar                        Sensors classes  
./src/LeddarTech                    Utilities  
./src/LeddarConfigurator4           Visual Studio 2013 project files  
./src/LeddarExample                 Example using LeddarSDK  
./src/LeddarPy                      Python wrapper package
./src/Leddar_ROS                    ROS package

2 - Compiling LeddarSDK

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Linux build

Launch build.sh to compile all the project:

    chmod +x build.sh
    ./build.sh

The output files will be generated in ./src/release

In order to run the example, you need either :

Run it from the release folder :
cd release
./LeddarExample
Or run it from anywhere with the following command (with the correct PATHTO and architecture (x64, x86 or ARM):
LD_LIBRARY_PATH=/PATHTO/LeddarSDK/libs/FTDI/linux/x64:/PATHTO/LeddarSDK/libs/MPSSE/linux/x64 ./LeddarExample

Note : you might need to install additional library. For example libusbx-devel on fedora or libusb-1.0-0-dev on debian

Window build

Open ./src/LeddarConfigurator4/LeddarConfigurator4.sln in Visual Studio and compile.

3 - Running LeddarExample

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Linux example

USB Serial:

You need to give user rights to the USB port or run the example using the "sudo" command.

To change USB access, create a file in /etc/udev/rules.d Example: 90-LeddarTech.rules Add this line: ATTRS{idVendor}=="28f1",MODE="0666"

SPI using FTDI cable:

To access the device, you need to run first this command provided by the FTDI documentation: sudo rmmod ftdi_sio sudo rmmod usbserial

You need to give user rights to the USB port or run the example using the "sudo" command. To change USB access, create a file in /etc/udev/rules.d Example: 91-FTDI-SPI.rules Add this line: ATTRS{idVendor}=="0403",MODE="0666"

4 - Python Package

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First you need to build the SDK using instructions found at step 2 - Compiling LeddarSDK

Linux python

In folder LeddarPy run python setup.py install --user

Windows python

Depending on your python version and visual studio version, "python setup.py install" can work (see https://wiki.python.org/moin/WindowsCompilers/)
Else you can open the .sln in LeddarPy folder and build the solution (Visual studio 2017)

5 - ROS package

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We provide a ROS (https://www.ros.org/) package that uses our python package. Instructions can be found in the Leddar_ROS folder.

dleliuhin/LeddarSDK