Welcome to YDLIDAR 4ROS LiDAR repository

Preparation

1. Install SDK

Unzip YDLidar-SDK-master.tar.xz in the source code folder to get YDLidar-SDK-master.

Input following command:

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

2. Create a new workspace and compile function packages

Take the creation name ydlidar_ws as an example. Input following command:

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mkdir ydlidar_ws
cd ydlidar_ws
mkdir src
cd src
catkin_init_workspace

Copy the decompressed ydlidar_ros_driver-master function package to the ydlidar_ws/src directory.

Then, in the directory of ydlidar_ws, use catkin_make to compile,

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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

3. Bind lidar port name

Open the terminal, input the following command:

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cd ~/ydlidar_ws/src/ydlidar_ros_driver-master/startup
sudo chmod 777 initenv.sh
sudo bash initenv.sh

Then, re-plug the lidar wiring and enter the command ll /dev/rplidar 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.

4. Test Lidar

Save and exit.

Reopen a terminal and enter the following statement to open the lidar.

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#x3/x3pro雷达
roslaunch ydlidar_ros_driver X3.launch
#4ros雷达
roslaunch ydlidar_ros_driver TG.launch

View lidar data with rostopic tool.

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rostopic echo /scan

ctrl c closes the terminal that just drove the lidar.

Then enter the following statement in the terminal to drive the radar, and open rviz to display the point cloud.

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#x3/x3pro lidar
roslaunch ydlidar_ros_driver x3_lidar_view.launch
#4ros lidar
roslaunch ydlidar_ros_driver 4ros_lidar_view.launch