Preparation before use

1. Install sdk driver

Based on the specifications of the lidar you purchased, locate the compressed file labeled "YDLidar-SDK" in the provided source code package. Extract the "YDLidar-SDK" folder; this folder contains the SDK files for this lidar. Since using the ROS function package for this lidar requires the SDK to be installed beforehand, the "YDLidar-SDK" folder contains the lidar's driver files. Open a terminal in this folder and type:

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

If no errors are reported during operation, the driver is successfully installed.

2. Create a new workspace and compile function packages

• (Recommended) The first method is to decompress ydlidar_ws in the source code to your own root directory, and then compile it directly using catkin_make.

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cd ydlidar_ws
catkin_make

After the compilation is passed, add the path of the workspace to .bashrc.

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sudo gedit ~/.bashrc

Copy the following content to the end of the file,

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source ~/ydlidar_ws/devel/setup.bash --extend

• The second method is to create a self-named workspace. Take the name oradar_ws as an example and enter it in the terminal.

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mkdir oradar_ws
cd oradar_ws
mkdir src
cd src
catkin_init_workspace

Then copy the decompressed source code function package under ydlidar_ws/src to the oradar_ws/src directory, and then use catkin_make to compile in the oradar_ws directory.

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cd oradar_ws
catkin_make

After the compilation is passed, add the path of the workspace to .bashrc.

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sudo gedit ~/.bashrc

Copy the following content to the end of the file,

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source ~/oradar_ws/devel/setup.bash --extend

3. Bind radar port name

Open the terminal in the root directory of the Raspberry Pi and enter the following command,

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cd /etc/udev/rules.d/
sudo vi usb.rules

Then copy the following content into it,

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KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="ydlidar"

Then re-plug the lidar serial port and enter ll /dev/ydlidar 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.

Then open our docker script and add it

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vi run_ros1.sh

4. Drive lidar

First go into the docker we provide, open a terminal in the Raspberry Pi directory and enter,

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./run_ros1.sh

After that, enter the following statement to open the lidar and display it in rviz,

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roslaunch ydlidar_ros_driver lidar_view.launch

When the above screen appears, it means that all preparations have been completed.