Welcome to T-mini Plus LiDAR repository

Preparation

1. Install the 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:

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

If no errors are reported during the process, it means that the driver has been successfully installed.。

2. Creating a New Workspace and Compiling Packages

• (Recommended) The first method involves extracting the ydlidar_ws source code to your root directory and then directly using catkin_make to compile it.

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cd ydlidar_ws
catkin_make

After successful compilation, add the workspace path to your .bashrc file.

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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 involves creating a self-named workspace, for example, named oradar_ws. In the terminal, type:

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mkdir oradar_ws
cd oradar_ws
mkdir src
cd src
catkin_init_workspace

Then copy the extracted source code from ydlidar_ws/src to the oradar_ws/src directory, and then compile it using catkin_make in the oradar_ws directory.

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cd oradar_ws
catkin_make

After successful compilation, add the workspace path to your .bashrc file.

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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 lidar port name

Open a terminal in the ydlidar_ws workspace and enter the following command.

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chmod 0777 src/ydlidar_ros_driver/startup/*
sudo sh src/ydlidar_ros_driver/startup/initenv.sh #Tmini-plus-12m uses this
sudo bash src/ydlidar_ros_driver/startup/initenv.sh  #Tmini-plus-25m uses this

Then reconnect the lidar serial port and enter ll /dev/ydlidar in the terminal.

If the above content appears, it means that the binding was successful. The last character is not necessarily 0; it will change depending on the order in which the devices are inserted.

4. Drive lidar

Save and exit, then open a new terminal and enter the following command to enable lidar and display it in rviz.

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roslaunch ydlidar_ros_driver lidar_view.launch

If the above screen appears, it means that all preparations are complete.