ydlidar.md

YDLIDAR ROS Package Download and Build

Step1: create a ROS workspace, if there is no workspace, othereise Skip to Step2

Linux/OS X

$mkdir -p ~/ydlidar_ros_ws/src
$cd ~/ydlidar_ros_ws/src

Windows

$md \dev\ydlidar_ros_ws\src
$cd \dev\ydlidar_ros_ws\src

Step2: clone ydlidar ros package

$git clone https://github.com/YDLIDAR/ydlidar_ros

Step3: Build ydlidar_ros package

$cd ..
$catkin_make

Note: Set ROS Workspace Environment Variables

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

Step4:Configure LiDAR paramters

<launch>
<node name="ydlidar_node"  pkg="ydlidar_ros"  type="ydlidar_node" output="screen" respawn="false" >
		<param name="port"         type="string" value="/dev/ydlidar"/>  
		<param name="baudrate"         type="int" value="230400"/>  
		<param name="frame_id"     type="string" value="laser_frame"/>
		<param name="resolution_fixed"    type="bool"   value="true"/>
		<param name="auto_reconnect"    type="bool"   value="true"/>
		<param name="reversion"    type="bool"   value="true"/>
		<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="16.0" />
		<param name="ignore_array" type="string" value="" />
		<param name="frequency"    type="double" value="10"/>
		<param name="isTOFLidar"    type="bool"   value="false"/>
 </node>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />
</launch>

Note: How to configure paramters, see here

Step5:Create serial port Alias[/dev/ydlidar]

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

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

Step6:Run ydlidar_ros node

$roslaunch ydlidar_ros lidar.launch

$rosrun ydlidar_ros ydlidar_client

or

$roslaunch ydlidar_ros lidar_view.launch