YDLIDAR ROS Driver

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

Compile & Install YDLidar SDK

ydlidar_ros_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 If you have never installed YDLidar-SDK library or it is out of date, you must first install YDLidar-SDK library.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_ros_driver

1. Clone ydlidar_ros_driver package for github :

   git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git ydlidar_ws/src/ydlidar_ros_driver

2. Build ydlidar_ros_driver package :

   cd ydlidar_ws
   catkin_make
   

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

   

3. Package environment setup :

   source ./devel/setup.sh

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

   $echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc
   $source ~/.bashrc
   

4. Confirmation To confirm that your package path has been set, echo the ROS_PACKAGE_PATH variable.

   $ echo $ROS_PACKAGE_PATH
   

   You should see something similar to: /home/tony/ydlidar_ws/src:/opt/ros/melodic/share

5. Create serial port Alias [optional]

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

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

Run ydlidar_ros_driver

Run ydlidar_ros_driver using launch file

The command format is :

roslaunch ydlidar_ros_driver [launch file]

1. Connect Triangle LiDAR uint(s).

   # G4, G5
   roslaunch ydlidar_ros_driver lidar_view.launch 
   

2. Connect to TOF LiDAR uint(s).

   # TG15, TG30, TG50
   roslaunch ydlidar_ros_driver TG.launch 
   # TX8, TX20
   roslaunch ydlidar_ros_driver TX.launch 
   

3. Connect to TOF NET LiDAR uint(s).

   # T5, T15
   roslaunch ydlidar_ros_driver T15.launch 
   

Launch file introduction

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

is "ydlidar_ws/src/ydlidar_ros_driver/launch". All launch files are listed as below :

launch file	features
G1.launch	Connect to G1 LiDAR Publish LaserScan message on scan topic
G2.launch	Connect to G2 LiDAＲ Publish LaserScan message on scan topic
G6_G7.launch	Connect to G6/G7 LiDAR Publish LaserScan message on scan topic
lidar.launch	Connect to G4/G5 LiDAR Publish LaserScan message on scan topic
lidar_view.launch	Connect to G4/G5 LiDAR Publish LaserScan message on scan topic Automatically load rviz
T15.launch	Connect to T5/T15 LiDAR Publish LaserScan message on scan topic
TG.launch	Connect to TG15/TG30/TG50 LiDAR Publish LaserScan message on scan topic
TX.launch	Connect to TX8/TX20 LiDAR Publish LaserScan message on scan topic
X2.launch	Connect to X2/X2L LiDAR Publish LaserScan message on scan topic
X4.launch	Connect to X4 LiDAR Publish LaserScan message on scan topic
TSA.launch	Connect to TSA LiDAR Publish LaserScan message on scan topic
Tmini.launch	Connect to T-mini/T-mini Pro LiDAR Publish LaserScan message on scan topic

Publish Topic

Topic	Type	Description
scan	sensor_msgs/LaserScan	2D laser scan of the 0-angle ring
point_cloud	sensor_msgs/PointCloud	2D point cloud of the 0-angle ring
laser_fan(removed in version 1.0.1)	ydlidar_ros_driver::LaserFan	2D Raw laser fan 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_ros_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
point_cloud_preservative	bool	Keep invalid range. true -- Keep. false -- Reject. default: false
More paramters details, see here

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