README.md

Modified Version for Humble

This repository for Humble environment. The details of modification is shown in the article

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YDLIDAR ROS2 Driver

ydlidar_ros2_driver is a new ros package, which is designed to gradually become the standard driver package for ydlidar devices in the ros2 environment.

How to install ROS2

ubuntu

windows

How to Create a ROS2 workspace

Create a workspace

Compile & Install YDLidar SDK

ydlidar_ros2_driver depends on YDLidar-SDK library. If you have never installed YDLidar-SDK library or it is out of date, you must first install YDLidar-SDK library. If you have installed the latest version of YDLidar-SDK, skip this step and go to the next step.

1. Download or clone the YDLIDAR/YDLidar-SDK repository on GitHub.
2. Compile and install the YDLidar-SDK under the build directory following README.md of YDLIDAR/YDLidar-SDK.

Clone ydlidar_ros2_driver

1. Clone ydlidar_ros2_driver package for github :

   git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver

2. Build ydlidar_ros2_driver package :

   cd ydlidar_ros2_ws
   colcon build --symlink-install
   

   Note: install colcon see

   

   >Note: If the following error occurs, Please install YDLIDAR/YDLidar-SDK first.

   

3. Package environment setup :

   source ./install/setup.bash

   Note: Add permanent workspace environment variables. It's convenientif the ROS2 environment variables are automatically added to your bash session every time a new shell is launched:

   $echo "source ~/ydlidar_ros2_ws/install/setup.bash" >> ~/.bashrc
   $source ~/.bashrc
   

4. Confirmation To confirm that your package path has been set, printenv the grep -i ROS variable.

   $ printenv | grep -i ROS
   

   You should see something similar to: OLDPWD=/home/tony/ydlidar_ros2_ws/install

5. Create serial port Alias [optional]

   $chmod 0777 src/ydlidar_ros2_driver/startup/*
   $sudo sh src/ydlidar_ros2_driver/startup/initenv.sh
   

   Note: After completing the previous operation, replug the LiDAR again.

Configure LiDAR paramters

ydlidar_ros2_driver_node:
  ros__parameters:
    port: /dev/ttyUSB0
    frame_id: laser_frame
    ignore_array: ""
    baudrate: 230400
    lidar_type: 1
    device_type: 0
    sample_rate: 9
    abnormal_check_count: 4
    resolution_fixed: true
    reversion: true
    inverted: true
    auto_reconnect: true
    isSingleChannel: false
    intensity: false
    support_motor_dtr: false
    angle_max: 180.0
    angle_min: -180.0
    range_max: 64.0
    range_min: 0.01
    frequency: 10.0
    invalid_range_is_inf: false

Run ydlidar_ros2_driver

Run ydlidar_ros2_driver using launch file

The command format is :

ros2 launch ydlidar_ros2_driver [launch file].py

1. Connect LiDAR uint(s).

   ros2 launch ydlidar_ros2_driver ydlidar_launch.py 
   

   or

   launch $(ros2 pkg prefix ydlidar_ros2_driver)/share/ydlidar_ros2_driver/launch/ydlidar.py 
   

2. RVIZ

   ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py 
   

   

3. echo scan topic

   ros2 run ydlidar_ros2_driver ydlidar_ros2_driver_client or ros2 topic echo /scan
   

Launch file introduction

The driver offers users a wealth of options when using different launch file. The launch file directory

is "ydlidar_ros2_ws/src/ydlidar_ros2_driver/launch". All launch files are listed as below :

launch file	features
ydlidar.py	Connect to defualt paramters Publish LaserScan message on scan topic
ydlidar_launch.py	Connect ydlidar.yaml Lidar specified by configuration parameters Publish LaserScan message on scan topic
ydlidar_launch_view.py	Connect ydlidar.yaml Lidar specified by configuration parameters and setup RVIZ Publish LaserScan message on scan topic

Publish Topic

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

Subscribe Service

Service	Type	Description
stop_scan	std_srvs::Empty	turn off lidar
start_scan	std_srvs::Empty	turn on lidar

Configure ydlidar_ros_driver internal parameter

The ydlidar_ros2_driver internal parameters are in the launch file, they are listed as below :

Parameter name	Data Type	detail
port	string	Set Lidar the serial port or IP address it can be set to /dev/ttyUSB0, 192.168.1.11, etc. default: /dev/ydlidar
frame_id	string	Lidar TF coordinate system name. default: laser_frame
ignore_array	string	LiDAR filtering angle area eg: -90, -80, 30, 40
baudrate	int	Lidar baudrate or network port. default: 230400
lidar_type	int	Set lidar type 0 -- TYPE_TOF 1 -- TYPE_TRIANGLE 2 -- TYPE_TOF_NET default: 1
device_type	int	Set device type 0 -- YDLIDAR_TYPE_SERIAL 1 -- YDLIDAR_TYPE_TCP 2 -- YDLIDAR_TYPE_UDP default: 0
sample_rate	int	Set Lidar Sample Rate. default: 9
abnormal_check_count	int	Set the number of abnormal startup data attempts. default: 4
fixed_resolution	bool	Fixed angluar resolution. default: true
reversion	bool	Reversion LiDAR. default: true
inverted	bool	Inverted LiDAR. false -- ClockWise. true -- CounterClockWise default: true
auto_reconnect	bool	Automatically reconnect the LiDAR. true -- hot plug. default: true
isSingleChannel	bool	Whether LiDAR is a single-channel. default: false
intensity	bool	Whether LiDAR has intensity. true -- G2 LiDAR. default: false
support_motor_dtr	bool	Whether the Lidar can be started and stopped by Serial DTR. default: false
angle_min	float	Minimum Valid Angle. default: -180
angle_max	float	Maximum Valid Angle. default: 180
range_min	float	Minimum Valid range. default: 0.1
range_max	float	Maximum Valid range. default: 16.0
frequency	float	Set Scanning Frequency. default: 10.0
invalid_range_is_inf	bool	Invalid Range is inf. true -- inf. false -- 0.0. default: false
More paramters details, see here

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