ROS node and test application for YDLIDAR
Visit EAI Website for more details about YDLIDAR.
1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build ydlidar_node and ydlidar_client
3) Create the name "/dev/ydlidar" for YDLIDAR
--$ roscd ydlidar/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh
There're two ways to run YDLIDAR ros package
- Run YDLIDAR node and view in the rviz
roslaunch ydlidar lidar_view.launch
You should see YDLIDAR's scan result in the rviz.
- Run YDLIDAR node and view using test application
roslaunch ydlidar lidar.launch
rosrun ydlidar ydlidar_client
You should see YDLIDAR's scan result in the console
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.
reversion (bool, default: false)
indicated whether the LIDAR IS reversion.
resolution_fixed (bool, default: true)
indicated whether the LIDAR has a fixed angular resolution.
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.
2018-12-3 version:1.3.9
1.Update SDK verison to 1.3.9
2.Optimized interface.
2018-06-19 version:1.3.3
1.Update SDK verison to 1.3.5
2.add debug MODEL
3.add reversion scan data
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.