How to use LD06_USB

Website：https://www.ldrobot.com/

Download tutorials：https://www.ldrobot.com/download/44

1、Use Yahboom image system

The system files provided by Yahboom have already configured ros and related environments,and users can use them directly. Password: yahboom

1.1、jupyter lab

Login method: Open Google Chrome, enter [IP:8888]; Password: [yahboom]

For example: Open Google Chrome and enter [http://192.168.2.76:8888].

1.2、vnc

Login method: After installing [vncviewer.exe] under Windows, double-click to open and enter [IPJ,and the login password: [yahboom].

2、Operating environment

OS: Ubuntu 18.04 LTS ROS version: melodic Equipment: jetson nano, Raspberry Pi, PC First, transplant the function package to the workspace; choose any of the following test methods.

Note: The command to update the environment variables must be executed every time the terminal is newly opened to execute the test command.

x
catkin_make              # Compile workspace
source devel/setup.bash  # Update environment variables

Install dependent libraries

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sudo apt-get install ros-melodic-libuvc-* ros-melodic-libuvc ros-melodic-mbf-msgs ros-melodic-bfl ros-melodic-serial freeglut3 freeglut3-dev libudev-dev libvorbis-dev

3、Lidar test method

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roslaunch ldlidar_usb ld06.launch 
# Or
rosrun ldlidar_usb ldlidar 

Start rviz

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roslaunch ldlidar_usb rviz_ld06.launch

3、Mapping test method

Install the gmapping package

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sudo apt install ros-melodic-gmapping

Start up

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roslaunch ldlidar_usb test_gmapping.launch

5、PC software test method

Extract the compressed package of the host computer to the local hard disk, select the appropriate system architecture (x64, x86), and double-click [ld_desktop.exe].

At this time, connect the LD06 lidar, select the corresponding radar model and port number in the host computer, and click the triangle start button.