YDLIDAR X4¶
Links¶
Documents¶
Setup¶
Note
The setup of specific udev rules for USB-based 2D laser scanners may not be possible because it is the CP2102N USB to UART Bridge Controller (or other alike) that is communicating with the operating system and not the sensor itself...
udevadm info -a -n /dev/ttyUSB0
YDLIDAR SDK¶
# Dependencies
sudo apt install cmake pkg-config
mkdir ~/dev/ros -p
cd ~/dev/ros
git clone git@github.com:YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK
mkdir build
cd build
cmake ..
make
sudo make install
ROS 1 Noetic¶
cd ~/ros1_ws/src/
git clone git@github.com:YDLIDAR/ydlidar_ros_driver.git
cd ~/ros1_ws/
catkin_make --force-cmake -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
ROS 2 Foxy¶
cd ~/ros2_ws/src/
git clone git@github.com:YDLIDAR/ydlidar_ros2_driver.git
cd ~/ros2_ws/
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --event-handlers summary+ status+ console_cohesion+ console_direct+ console_start_end+ console_stderr+
source install/setup.bash
Launch¶
ROS 1 Noetic¶
source /opt/ros/noetic/setup.bash
source /home/user/ros1_ws/devel/setup.bash
roslaunch ydlidar_ros_driver X4.launch
X4.launch
<launch>
<node pkg="ydlidar_ros_driver" type="ydlidar_ros_driver_node"
name="ydlidar_lidar_publisher"
output="screen" respawn="false">
<!-- string property -->
<param name="port" type="string" value="/dev/ttyUSB0"/>
<param name="frame_id" type="string" value="laser_frame"/>
<param name="ignore_array" type="string" value=""/>
<!-- int property -->
<param name="baudrate" type="int" value="128000"/>
<!-- 0:TYPE_TOF, 1:TYPE_TRIANGLE, 2:TYPE_TOF_NET -->
<param name="lidar_type" type="int" value="1"/>
<!-- 0:YDLIDAR_TYPE_SERIAL, 1:YDLIDAR_TYPE_TCP -->
<param name="device_type" type="int" value="0"/>
<param name="sample_rate" type="int" value="5"/>
<param name="abnormal_check_count" type="int" value="4"/>
<!-- bool property -->
<param name="resolution_fixed" type="bool" value="true"/>
<param name="auto_reconnect" type="bool" value="true"/>
<param name="reversion" type="bool" value="false"/>
<param name="inverted" type="bool" value="true"/>
<param name="isSingleChannel" type="bool" value="false"/>
<param name="intensity" type="bool" value="false"/>
<param name="support_motor_dtr" type="bool" value="true"/>
<param name="invalid_range_is_inf" type="bool" value="false"/>
<param name="point_cloud_preservative" type="bool" value="false"/>
<!-- float property -->
<param name="angle_min" type="double" value="-180"/>
<param name="angle_max" type="double" value="180"/>
<param name="range_min" type="double" value="0.1"/>
<param name="range_max" type="double" value="12.0"/>
<!-- frequency is invalid, External PWM control speed -->
<param name="frequency" type="double" value="10.0"/>
</node>
</launch>
Tip
Default launch file uses /dev/ydlidar port name, you probably need to
change it to /dev/ttyUSB0.
ROS 2 Foxy¶
source /opt/ros/foxy/setup.bash
source /home/user/ros2_ws/install/setup.bash
ros2 launch ydlidar_ros2_driver ydlidar_launch.py params_file:=/home/user/ros2_ws/src/ydlidar_ros2_driver/params/X4.yaml
ydlidar_launch.py
#!/usr/bin/python3
# Copyright 2020, EAIBOT
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import LifecycleNode
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.actions import LogInfo
import lifecycle_msgs.msg
import os
def generate_launch_description():
share_dir = get_package_share_directory('ydlidar_ros2_driver')
parameter_file = LaunchConfiguration('params_file')
node_name = 'ydlidar_ros2_driver_node'
params_declare = DeclareLaunchArgument('params_file',
default_value=os.path.join(
share_dir, 'params', 'ydlidar.yaml'),
description='FPath to the ROS2 parameters file to use.')
driver_node = LifecycleNode(package='ydlidar_ros2_driver',
node_executable='ydlidar_ros2_driver_node',
node_name='ydlidar_ros2_driver_node',
output='screen',
emulate_tty=True,
parameters=[parameter_file],
node_namespace='/',
)
tf2_node = Node(package='tf2_ros',
node_executable='static_transform_publisher',
node_name='static_tf_pub_laser',
arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
)
return LaunchDescription([
params_declare,
driver_node,
tf2_node,
])
X4.yaml
ydlidar_ros2_driver_node:
ros__parameters:
port: /dev/ttyUSB0
frame_id: laser_frame
ignore_array: ""
baudrate: 128000
lidar_type: 1
device_type: 0
sample_rate: 5
abnormal_check_count: 4
fixed_resolution: true
reversion: true
inverted: true
auto_reconnect: true
isSingleChannel: false
intensity: false
support_motor_dtr: true
angle_max: 180.0
angle_min: -180.0
range_max: 12.0
range_min: 0.1
frequency: 10.0
invalid_range_is_inf: false