Preparation

1. Install SDK

Unzip YDLidar-SDK-master.tar.xz in the source code folder to get YDLidar-SDK-master.

Input following command:

mkdir build
cd build
cmake ..
make -j4
sudo make install

2.Compilation Function Package

Unzip ydlidar in the source folder_ ROS2_ Driver master, obtain ydlidar_ ROS2_ Driver master feature pack.

Copy ydlidar_ ROS2_ Drive master to the src directory of your own workspace

Using the workspace ydlidar_ Ws is an example, rplidar_ Ws is located in the ~ directory.

Then, go back to the workspace directory and compile it,

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cd ~/ydlidar_ws
colcon build --symlink-install

The above screen indicates that the compilation has passed.

Input following command to set the environment variable.

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echo "source ~/ydlidar_ws/install/setup.bash --extend" >> ~/.bashrc

Input the following command to bind lidar port name

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cd /home/yahboom/ydlidar_ws/src/ydlidar_ros2_driver-master/startup
sudo chmod 777 initenv.sh
sudo bash initenv.sh

Then, re-plug the lidar wiring and enter the command ll /dev/rplidar in the terminal.

The above content indicates that the binding is successful. The end is not necessarily 0 and changes according to the order in which the devices are inserted.

3. Run launch

Input following command:

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#x3/x3pro lidar
ros2 launch ydlidar_ros2_driver x3_ydlidar_launch.py
#4ros lidar
ros2 launch ydlidar_ros2_driver 4ros_ydlidar_launch.py

View lidar data with rostopic tool.

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ros2 topic echo /scan

ctrl+ c closes the terminal that just drove the lidar.

Then enter the following statement in the terminal to drive the lidar, and open rviz to display the point cloud.

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#x3/x3pro lidar
ros2 launch ydlidar_ros2_driver ydlidar_x3_view_launch.py
#4ros lidar
ros2 launch ydlidar_ros2_driver ydlidar_4ros_view_launch.py