1. Preparation before use

1、Install SDK

Unzip the YDLidar-SDK-master.zip file in the folder，Get a file YDLidar-SDK-master,Copy this file to your own file directory,Here, taking the installation in the/home directory as an example, and then entering it one by one,

cd YDLidar-SDK-master
mkdir build
cd build
cmake ..
make
sudo make install

2.Compile ROS feature package

ROS1

Unzip the ydlidar_ros_ws.rar file in the folder,get a file ydlidar_ros_ws,Copy this feature package to the root directory of your own environment, then open the terminal in the workspace and enter the following command to compile,

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cd ydlidar_ros_ws
catkin_make -DCATKIN_WHITELIST_PACKAGES=ydlidar_ros_driver
source install/setup.bash        #激活工作空间

ROS2

Extract the ydlidar_ros2_ws.rar file from the folder and obtain a file ydlidar_ros2_ws. Copy this feature package to the root directory of your own environment, then open the terminal in the workspace and enter the following command to compile,

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cd ydlidar_ros2_ws
colcon build --symlink-install

3. Create a serial port alias

To prevent recognition errors when multiple USB devices are connected, we create a module serial port alias.

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sudo chmod 0777 ~/catkin_ws/src/ydlidar_ros_driver/startup/*
sudo sh ~/catkin_ws/src/ydlidar_ros_driver/startup/initenv.sh

The ~/catkin_ws/src/ydlidar_ros_driver here is the location for installing the feature pack and needs to be modified according to the actual situation. Take care：

After completing the previous operation, please reinsert the module again。

Enter the following command to check if the recognition was successfully created，

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ll /dev/ydlidar

If the following screen appears, it indicates success，

Note: This may not necessarily be ttyUSB0, the assigned serial number based on system identification shall prevail.

4. Running programs

Terminal input，

ROS1,

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roslaunch ydlidar_ros_driver SDM18.launch

The screenshot of successful operation is as follows，

You can enter the following command to view specific data，

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rostopic echo /scan

The data in ranges is the actual measured distance, measured in meters.

ROS2

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ros2 launch ydlidar_ros2_driver ydlidar_launch.py

The following screenshot appears when running successfully,

You can enter the following command to view specific data,

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ros2 topic echo /scan

The data in ranges is the actual measured distance, measured in meters.