Welcome to T-mini Plus LiDAR repository

1.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. Create a new workspace and compile the package.

• (Recommended) The first method is to extract the yahboomcar_ws source code to your own root directory, and then directly use colcon build to compile it.

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cd yahboomcar_ws
colcon build

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 ~/yahboomcar_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 packages from yahboomcar_ws/src to the oradar_ws/src directory. Then, in the oradar_ws directory, use colcon build to compile.

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cd oradar_ws
colcon build

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 yahboomcar_ws workspace and enter the following command.

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#Tmini-plus-12m Run the following command
sudo chmod 777 src/ydlidar_ros2_driver-humble/startup/*
sudo sh src/ydlidar_ros2_driver-humble/startup/initenv.sh
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#Tmini-plus-25m Run the following command
sudo chmod 777 src/ydlidar_ros2_driver/startup/*
sudo sh src/ydlidar_ros2_driver/startup/initenv.sh

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

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 ll /dev/ydlidar

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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ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py

The following commands can be used to view lidar node data.

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ros2 topic echo /scan