ROS2 node and test application for YDLIDAR
Visit EAI Website for more details about YDLIDAR.
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/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh
- Run YDLIDAR node and view using test application
ros2 run ydlidar ydlidar_node
ros2 run ydlidar ydlidar_client
You should see YDLIDAR's scan result in the console
launch $(ros2 pkg prefix ydlidar)/share/ydlidar/launch/ydlidar.py
ros2 run ydldiar ydlidar_client or ros2 topic echo /scan
path: ~/.ros2/config.ini
port (string, default: /dev/ydlidar)
serial port name used in your system.
baudrate (int, default: 115200)
serial port baud rate.
frame_id (string, default: laser_frame)
frame ID for the device.
low_exposure (low_exposure, default: false)
indicated whether the LIDAR has low light power mode.
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°.
intensities (bool, default: false)
indicated whether the LIDAR has intensity.
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: 16.0)
Max valid range (m) for LIDAR data.
ignore_array (string, default: "")
Set the current angle range value to zero.
samp_rate (int, default: 4)
the LIDAR sampling frequency.
frequency (double, default: 7)
the LIDAR scanning frequency.
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.