upgrade sdk 1.10.0

Slamtec · Feb 22, 2019 · 8548b73 · 8548b73
1 parent 36684a0
commit 8548b73
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diff --git a/README.md b/README.md
@@ -25,22 +25,26 @@ There're two ways to run rplidar ros package
 I. Run rplidar node and view in the rviz
 ------------------------------------------------------------
 roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2)
-or
+,
 roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)
+or
+roslaunch rplidar_ros view_rplidar_s1launch (for RPLIDAR S1)
 
 You should see rplidar's scan result in the rviz.
 
 II. Run rplidar node and view using test application
 ------------------------------------------------------------
 roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)
-or
+,
 roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)
+or
+roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)
 
 rosrun rplidar_ros rplidarNodeClient
 
 You should see rplidar's scan result in the console
 
-Notice: the different is serial_baudrate between A1/A2 and A3
+Notice: the different is serial_baudrate between A1/A2 and A3/S1
 
 RPLidar frame
 =====================================================================

diff --git a/launch/rplidar_s1.launch b/launch/rplidar_s1.launch
@@ -0,0 +1,10 @@
+<launch>
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
+  <param name="serial_baudrate"     type="int"    value="256000"/><!--A3 -->
+  <param name="frame_id"            type="string" value="laser"/>
+  <param name="inverted"            type="bool"   value="false"/>
+  <param name="angle_compensate"    type="bool"   value="true"/>
+  <param name="scan_mode"           type="string" value="Express"/>
+  </node>
+</launch>
diff --git a/launch/view_rplidar_s1.launch b/launch/view_rplidar_s1.launch
@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.  
+  
+  It requires rplidar.launch.
+ -->
+<launch>
+  <include file="$(find rplidar_ros)/launch/rplidar_s1.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
+</launch>
diff --git a/package.xml b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
   <name>rplidar_ros</name>
-  <version>1.9.0</version>
-  <description>The rplidar ros package, support rplidar A2/A1 and A3</description>
+  <version>1.10.0</version>
+  <description>The rplidar ros package, support rplidar A2/A1 and A3/S1</description>
 
   <maintainer email="[email protected]">Slamtec ROS Maintainer</maintainer>
   <license>BSD</license>

diff --git a/sdk/README.txt b/sdk/README.txt
@@ -1,5 +1,5 @@
 Copyright (c) 2009 - 2014 RoboPeak Team
-Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -29,6 +29,6 @@ This folder contains RPLIDAR SDK source code which is provided by RoboPeak.
 
 RoboPeak Website: http://www.robopeak.com
 SlamTec HomePage: http://www.slamtec.com
-RPLIDAR_SDK_VERSION:	1.9.0
+RPLIDAR_SDK_VERSION:	1.10.0
 Note: The SDK version may not up-to-date.
 rplidar product: http://www.slamtec.com/en/Lidar
diff --git a/sdk/include/rplidar.h b/sdk/include/rplidar.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -41,4 +41,4 @@
 
 #include "rplidar_driver.h"
 
-#define RPLIDAR_SDK_VERSION  "1.9.0"
+#define RPLIDAR_SDK_VERSION  "1.10.0"
diff --git a/sdk/include/rplidar_cmd.h b/sdk/include/rplidar_cmd.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -127,7 +127,7 @@ typedef struct _rplidar_payload_acc_board_flag_t {
 //added in FW ver 1.24
 #define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF     0x20
 #define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF     0x21
-
+#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED        0x85
 #define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF
 
 #define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK      (0x1)
@@ -183,6 +183,18 @@ typedef struct _rplidar_response_capsule_measurement_nodes_t {
     _u16                            start_angle_sync_q6;
     rplidar_response_cabin_nodes_t  cabins[16];
 } __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t;
+
+typedef struct _rplidar_response_dense_cabin_nodes_t {
+    _u16   distance; 
+} __attribute__((packed)) rplidar_response_dense_cabin_nodes_t;
+
+typedef struct _rplidar_response_dense_capsule_measurement_nodes_t {
+    _u8                             s_checksum_1; // see [s_checksum_1]
+    _u8                             s_checksum_2; // see [s_checksum_1]
+    _u16                            start_angle_sync_q6;
+    rplidar_response_dense_cabin_nodes_t  cabins[40];
+} __attribute__((packed)) rplidar_response_dense_capsule_measurement_nodes_t;
+
 // ext1 : x2 boost mode
 
 #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS     12

diff --git a/sdk/include/rplidar_driver.h b/sdk/include/rplidar_driver.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -132,6 +132,7 @@ class RPlidarDriver {
     ///  \param timeout       The operation timeout value (in millisecond) for the serial port communication                     
     virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT) = 0;
 
+    virtual u_result clearNetSerialRxCache() = 0;
     // FW1.24
     /// Get all scan modes that supported by lidar
     virtual u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;

diff --git a/sdk/include/rplidar_protocol.h b/sdk/include/rplidar_protocol.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/include/rptypes.h b/sdk/include/rptypes.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/arch/win32/arch_win32.h b/sdk/src/arch/win32/arch_win32.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/arch/win32/net_serial.cpp b/sdk/src/arch/win32/net_serial.cpp
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/arch/win32/net_serial.h b/sdk/src/arch/win32/net_serial.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/arch/win32/timer.cpp b/sdk/src/arch/win32/timer.cpp
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/arch/win32/timer.h b/sdk/src/arch/win32/timer.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/arch/win32/winthread.hpp b/sdk/src/arch/win32/winthread.hpp
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/hal/abs_rxtx.h b/sdk/src/hal/abs_rxtx.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/hal/event.h b/sdk/src/hal/event.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/hal/locker.h b/sdk/src/hal/locker.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/hal/thread.cpp b/sdk/src/hal/thread.cpp
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/hal/thread.h b/sdk/src/hal/thread.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/src/hal/util.h b/sdk/src/hal/util.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */