1、Preparation

1、Install SDK

Extract the YDLidar-SDK.rar file in the folder to get a file YDLidar-SDK. Copy the file to your own file directory.

Take the installation in the/home directory as an example, and then enter it in sequence.

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

2、Compile ROS function package

ROS1

Extract the ydlidar in the folder_ ros_ Driver.rar file, get a file ydlidar_ ros_ Driver, copy the function package to the src directory of the created workspace, open the terminal in the workspace, and enter the following command.

For ROS1:

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 catkin_make -DCATKIN_WHITELIST_PACKAGES=ydlidar_ros_driver

ROS2

Extract the ydlidar in the folder_ ros2_ Driver.rar file, get a file ydlidar_ ros2_ Driver, copy the function package to the src directory of the created workspace, open the terminal in the workspace, and enter the following command.

For ROS2:

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colcon build --symlink-install

3、Create a serial port alias

In order to prevent identification 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

~/catkin_ ws/src/ydlidar_ ros_ The driver is the location where the function package is installed, which needs to be modified according to the actual situation. Note: After completing the previous operation, please re-insert the module . Input the following command to check whether the recognition is created successfully,

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ll /dev/ydlidar

If the following screen appears, it means success.

Note: This is not necessarily ttyUSB0, but the serial number assigned by the system identification

4、Run code

Enter the following command.

ROS1

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roslaunch ydlidar_ros_driver SDM15.launch

After successful operation, the terminal displays as follows.

Enter the following command to view the specific data.

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rostopic echo /scan

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

ROS2

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ros2 launch ydlidar_ros2_driver ydlidar_launch.py

After successful operation, the terminal displays as follows.

Enter the following command to view the specific data.

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ros2 topic echo /scan

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