YDLIDAR ROS PACKAGE(V1.4.5)

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.

How to install ROS

ubuntu

windows

How to Create a ROS workspace

Create a workspace

How to build YDLiDAR ROS Package

1) Clone this project to your catkin's workspace src folder
	(1). git clone https://github.com/YDLIDAR/ydlidar_ros
	(2). git chectout master
2) Running catkin_make to build ydlidar_node and ydlidar_client
3) Create the name "/dev/ydlidar" for YDLIDAR
--$ roscd ydlidar_ros/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh

Note: Download and Build details here

How to Run YDLIDAR ROS Package

1. Run YDLIDAR node and view in the rviz

---

roslaunch ydlidar_ros lidar_view.launch

2. Run YDLIDAR node and view using test application

---

roslaunch ydlidar_ros lidar.launch

rosrun ydlidar_ros ydlidar_client

Note: Specific LiDAR paramters can be based on the following opterations.

3.1 Running the YDLidar G1

After your workspace has been built and sourced:

roslaunch ydlidar_ros G1.launch

Note: You can alse Update the paramters in lidar.launch to G1 LiDAR paramters.

3.2 Running the YDLidar G2

After your workspace has been built and sourced:

roslaunch ydlidar_ros G2.launch

Note: You can alse Update the paramters in lidar.launch to G2 LiDAR paramters.

3.3 Running the YDLidar G2C

After your workspace has been built and sourced:

roslaunch ydlidar_ros G2C.launch

Note: You can alse Update the paramters in lidar.launch to G2C LiDAR paramters.

3.4 Running the YDLidar G4

After your workspace has been built and sourced:

roslaunch ydlidar_ros G4.launch

Note: You can alse Update the paramters in lidar.launch to G4 LiDAR paramters.

3.5 Running the YDLidar G6

After your workspace has been built and sourced:

roslaunch ydlidar_ros G6.launch

Note: You can alse Update the paramters in lidar.launch to G6 LiDAR paramters.

3.6 Running the YDLidar R2

After your workspace has been built and sourced:

roslaunch ydlidar_ros R2.launch

Note: You can alse Update the paramters in lidar.launch to R2 LiDAR paramters.

3.7 Running the YDLidar S2

After your workspace has been built and sourced:

roslaunch ydlidar_ros S2.launch

Note: You can alse Update the paramters in lidar.launch to S2 LiDAR paramters.

3.8 Running the YDLidar S4

After your workspace has been built and sourced:

roslaunch ydlidar_ros S4.launch

Note: You can alse Update the paramters in lidar.launch to S4 LiDAR paramters.

3.9 Running the YDLidar X4

After your workspace has been built and sourced:

roslaunch ydlidar_ros X4.launch

Note: You can alse Update the paramters in lidar.launch to X4 LiDAR paramters.

3.10 Running the YDLidar X2/X2L

After your workspace has been built and sourced:

roslaunch ydlidar_ros X2L.launch

Note: You can alse Update the paramters in lidar.launch to X2/X2L LiDAR paramters.

3.11 Running the YDLidar TG15/TG30/TG50

After your workspace has been built and sourced:

roslaunch ydlidar_ros TG.launch

Note: You can alse Update the paramters in lidar.launch to TG15/TG30/TG50 LiDAR paramters.

3.12 Running the YDLidar TX8/TX20

After your workspace has been built and sourced:

roslaunch ydlidar_ros TX8.launch

Note: You can alse Update the paramters in lidar.launch to TX8/TX20 LiDAR paramters.

ROS 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
isSingleChannel	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. 

isSingleChannel (bool, default: false)

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

LiDAR	isSingleChannel
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.

Change Log

2020-01-04 version:1.4.5

1.Support Old protocol TOF LiDAR

1.Serial number and version can be obtained for single channel LiDAR.

2019-12-03 version:1.4.4

1.support all standards lidar

2019-12-03 version:1.4.3

1.Support G4, G6,G1, TG LiDAR

2019-07-16 version:1.4.2

1.Scan Frequency Offset

2019-03-25 version:1.4.1

1.memory leak.

2019-03-25 version:1.4.0

1.Fixed timestamp error

2.LIDAR Startup abnormal

3.Only support G2A LiDAR

4.optimal turnOn and turnOff

Contact EAI

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