Welcome to RDK X5 Board repository

2.T-MINI PLUS LiDAR drive

T-MINI PLUS LiDAR Driver

1、Switch to the Correct LiDAR Model

First, check whether the device is detected. Run the following in the terminal:


ll /dev/ydlidar

If the device is recognized, the output will appear as shown in the screenshot.

Next, modify the corresponding YAML file. To drive the T-MINI LiDAR, run:


xxxxxxxxxx
vi yahboomcar_ws/src/ydlidar_ros2_driver-humble/launch/ydlidar_launch_view.py

vi Editor Tips: After opening the file, press i to enter edit mode. When done editing, press ESC, then type :wq to save and exit.

Change the YAML filename to uppercase TminiPro — this will allow the driver to launch the TminiPro LiDAR successfully. After making the change, save and exit. Then rebuild the workspace:


xxxxxxxxxx
cd ~/yahboomcar_ws/
colcon build

2、Launch the LiDAR

Open a terminal and enter the following command to start the LiDAR and display its output in RViz:


xxxxxxxxxx
ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py

To view the LiDAR node data via topic, run:


xxxxxxxxxx
ros2 topic echo /scan

Environment setup

Handheld LiDAR mapping