YDLIDAR ROS2 PACKAGE V1.4.5

ROS2 node and test application for YDLIDAR

Visit EAI Website for more details about YDLIDAR.

How to install ROS2

How to Create a ROS2 workspace

How to build YDLIDAR ros2 package

1) Clone this project to your ament's workspace src folder 
2) Running ament to build ydlidar_node and ydlidar_client
3) Create the name "/dev/ydlidar" for YDLIDAR
--$ cd workspace/ydlidar_ros2/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh

Note: Download and Build details here

How to run YDLIDAR ros2 package

1. Run YDLIDAR node and view using test application

$ros2 run ydlidar ydlidar_node

$ros2 run ydlidar ydlidar_client

Note: You should see YDLIDAR's scan result in the console

2.Run YDLIDAR node and view using test application by launch

$launch $(ros2 pkg prefix ydlidar)/share/ydlidar/launch/ydlidar.py

$ros2 run ydldiar ydlidar_client or ros2 topic echo /scan

$ros2 launch ydlidar ydlidar_launch.py

Dataset

LIDAR	Model	Baudrate	SampleRate(K)	Range(m)	Frequency(HZ)	Intenstiy(bit)	SingleChannel	voltage(V)
F4	1	115200	4	0.12~12	5~12	false	false	4.8~5.2
S4	4	115200	4	0.10~8.0	5~12 (PWM)	false	false	4.8~5.2
S4B	4/11	153600	4	0.10~8.0	5~12(PWM)	true(8)	false	4.8~5.2
S2	4/12	115200	3	0.10~8.0	4~8(PWM)	false	true	4.8~5.2
G4	5	230400	9/8/4	0.28/0.26/0.1~16	5~12	false	false	4.8~5.2
X4	6	128000	5	0.12~10	5~12(PWM)	false	false	4.8~5.2
X2/X2L	6	115200	3	0.10~8.0	4~8(PWM)	false	true	4.8~5.2
G4PRO	7	230400	9/8/4	0.28/0.26/0.1~16	5~12	false	false	4.8~5.2
F4PRO	8	230400	4/6	0.12~12	5~12	false	false	4.8~5.2
R2	9	230400	5	0.12~16	5~12	false	false	4.8~5.2
G6	13	512000	18/16/8	0.28/0.26/0.1~25	5~12	false	false	4.8~5.2
G2A	14	230400	5	0.12~12	5~12	false	false	4.8~5.2
G2	15	230400	5	0.28~16	5~12	true(8)	false	4.8~5.2
G2C	16	115200	4	0.1~12	5~12	false	false	4.8~5.2
G4B	17	512000	10	0.12~16	5~12	true(10)	false	4.8~5.2
G4C	18	115200	4	0.1~12	5~12	false	false	4.8~5.2
G1	19	230400	9	0.28~16	5~12	false	false	4.8~5.2
TX8	100	115200	4	0.1~8	4~8(PWM)	false	true	4.8~5.2
TX20	100	115200	4	0.1~20	4~8(PWM)	false	true	4.8~5.2
TG15	100	512000	20/18/10	0.05~15	3~16	false	false	4.8~5.2
TG30	101	512000	20/18/10	0.05~30	3~16	false	false	4.8~5.2
TG50	102	512000	20/18/10	0.05~50	3~16	false	false	4.8~5.2

Note: PWM option speed control requires external PWM wave.

Configuration

path: ydlidar.yaml

ros2-interfaces

Topic	Type	Description
`scan`	sensor_msgs/LaserScan	2D laser scan of the 0-angle ring

Parameter	Type	Description
`port`	String	port of lidar (ex. /dev/ttyUSB0)
`baudrate`	int	baudrate of lidar (ex. 230400)
`frame_id`	String	TF frame of sensor, default: `laser_frame`
`singleChannel`	bool	Whether LiDAR is a single-channel, default: false
`resolution_fixed`	bool	Fixed angluar resolution, default: true
`auto_reconnect`	bool	Automatically reconnect the LiDAR, default: true
`reversion`	bool	Reversion LiDAR, default: true
`isToFLidar`	bool	Whether LiDAR is TOF Type, default: false
`angle_min`	float	Minimum Valid Angle, defalut: -180.0
`angle_max`	float	Maximum Valid Angle, defalut: 180.0
`range_min`	float	Minimum Valid range, defalut: 0.01m
`range_max`	float	Maximum Valid range, defalut: 64.0m
`ignore_array`	String	LiDAR filtering angle area, default: ""
`samp_rate`	int	sampling rate of lidar, default: 9
`frequency`	float	scan frequency of lidar,default: 10.0

Parameters

port (string, default: /dev/ydlidar)

serial port name used in your system.

baudrate (int, default: 230400)

serial port baud rate.

LiDAR	baudrate
F4/S2/X2/X2L/S4/TX8/TX20/G4C	115200
X4	128000
S4B	153600
G1/G2/R2/G4/G4PRO/F4PRO	230400
G6/TG15/TG30/TG50	512000

frame_id (string, default: laser_frame)

frame ID for the device.

singleChannel (bool, default: false)

indicated whether the LIDAR is single communication(S2) lidar.

LiDAR	singleChannel
G1/G2/G4/G6/F4/F4PRO/S4/S4B/X4/R2/G4C	false
S2/X2/X2L	true
TG15/TG30/TG50	false
TX8/TX20	true

resolution_fixed (bool, default: true)

indicated whether the LIDAR has a fixed angular resolution.

auto_reconnect (bool, default: true)

indicated whether the LIDAR auto reconnection.

reversion (bool, default: false)

indicated whether the LIDAR data rotation 180°.

LiDAR	reversion
G1/G2/G4/G6/F4/F4PRO//R2/G4C/TG15/TG30/TG50	true
S2/X2/X2L/S4/S4B/X4/TX8/TX20	false

isToFLidar (bool, default: false)

indicated whether the LIDAR is TOF(TX8) lidar.

LiDAR	isToFLidar
G1/G2/G4/G6/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L	false
TG15/TG30/TG50/TX8/TX20	true

angle_min (double, default: -180)

Min valid angle (°) for LIDAR data.

angle_max (double, default: 180)

Max valid angle (°) for LIDAR data.

range_min (double, default: 0.08)

Min valid range (m) for LIDAR data.

range_max (double, default: 32.0)

Max valid range (m) for LIDAR data.

ignore_array (string, default: "")

Set the current angle range value to zero.

Note: ignore 10 to 20 and 50 to 80, ex: "10, 20, 50, 80"

samp_rate (int, default: 9)

the LIDAR sampling frequency.

LiDAR	samp_rate
G4/F4	4,8,9
F4PRO	4,6
G6	8,16,18
G1/G2/R2/X4	5
S4/S4B/G4C/TX8/TX20	4
S2	3
TG15/TG30/TG50	10,18,20

frequency (double, default: 10)

the LIDAR scanning frequency.

Note: Specific LiDAR paramter configuration, refer to Dataset

Upgrade Log

2020-02-08 version:1.4.5

1.Update SDK to 1.4.5

2.fixed ROS2 Dashing and Eloquent.

2019-12-23 version:1.4.4

1.support all standards lidar

2018-07-16 version:1.3.6

1.Update SDK verison to 1.3.9

2.remove imu sync.

2018-07-16 version:1.3.5

1.Update SDK verison to 1.3.6

2.add imu sync.

2018-04-16 version:1.3.1

1.Update SDK verison to 1.3.1

2.Increase sampling frequency,scan frequency setting.

3.Unified coordinate system.

4.Repair X4,S4 LIDAR cannot be opened.

5.Increased G4 G4C F4Pro LIDAR power-off protection.

6.Increased S4B LIDAR low optical power setting.

7.Fix the wait time for closing ros node.

8.Compensate for each laser point timestamp.

9.Unified profile, automatic correction lidar model.

6 Support

You can get support from YDLidar with the following methods:

Send email to support@ydlidar.com with a clear description of your problem and your setup
Github Issues

Contact EAI

If you have any extra questions, please feel free to contact us

linin00/ydlidar_ros2