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

1. Run YDLIDAR node and view in the rviz

roslaunch ydlidar lidar_view.launch

You should see YDLIDAR's scan result in the rviz.

2. 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.