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EAI X3 Pro LiDAR📖
01.Linux basic course
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
02.ROS1 basic course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
03.ROS1 lidar course
  • 0.Instructions before use
  • 1.Preparation
  • 2.Handheld lidar mapping
  • 3.Lidar avoiding
  • 4.Lidar guard
  • 5.Lidar follow
  • 6.Lidar mapping
  • 7.rrt_exploration mapping algorithm
  • 8.Navigation
  • 9.APP Mapping and Navigation
  • 10.RTAB 3D mapping and navigation
04.ROS2 basic course
  • 1. Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
05.ROS2 lidar course
  • 0.ReadMe
  • 1.Preparation
  • 2.Handheld lidar mapping
  • 3.Lidar avoiding
  • 4.Lidar follow
  • 5.Lidar guard
  • 6.Lidar patrol
  • 7.gmapping mapping
  • 8.cartographer mapping
  • 9.Navigation and avoiding
  • 10.APP Mapping and Navigation
  • 11.RTAB 3D mapping and navigation
06.RPi 5 Docker course
  • 1.Overview and installation
  • 2.Common commands
  • 3.Understand and publish images
  • 4.Hardware interaction data processing
  • 5.Enter docker container
  • 6.Update docker images
  • 7.Docker container to install ROS using accessories
07.RDK course
  • 0.ReadMe before use
  • 1.Environment Construction
  • 2.Handheld Lidar Mapping
Download
  • ROS1-Code
  • ROS2-Code
  • ROS1-VMFile
  • ROS2-VMFile
  • PC Software
  • 3D_Model_File
  • RDK_Code
  • ROS2_Basic_VM
Download ZIP

Welcome to EAI X3 Pro LiDAR repository

2.Handheld lidar mapping

Handheld lidar mapping

The following workspace contains the entire function package in ydlidar_ws.

If you need to transplant it to your own development board, you need to copy all the function packages to the src of the workspace for compilation, and install the relevant environment according to the actual situation.

The approximate steps are as follows, taking ros1-melodic as an example:

sudo apt install ros-melodic-moveit ros-melodic-moveit-visual-tools ros-melodic-kdl-* ros-melodic-joint-state-publisher-gui ros-melodic-trac-ik liborocos-kdl-dev
ros-melodic-teleop-twist-keyboard ros-melodic-moveit-resources ros-melodic-navigation ros-melodic-gmapping ros-melodic-hector-slam ros-melodic-slam-karto
ros-melodic-robot-state-publisher ros-melodic-geographic-msgs ros-melodic-libuvc-* ros-melodic-rtabmap-ros libavformat-dev libavcodec-dev libswresample-dev
libswscale-dev libavutil-dev libsdl1.2-dev ros-melodic-pointcloud-to-laserscan
ros-melodic-mbf-msgs ros-melodic-mbf-costmap-core ros-melodic-costmap-converter
ros-melodic-bfl ros-melodic-serial ros-melodic-teleop-twist-joy ros-melodic-laser-proc ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs
ros-melodic-amcl ros-melodic-map-server ros-melodic-urdf ros-melodic-xacro ros-melodic-interactive-markers ros-melodic-octomap* ros-melodic-joy* ros-melodic-dwa-local-planner ros-melodic-multirobot-map-merge python-catkin-tools python3-
dev python3-catkin-pkg-modules python3-numpy python3-yaml build-essential ros-melodic-imu-tools ros-melodic-cartographer*

1. Start the mapping command

Input following command: 

xxxxxxxxxx
roslaunch ydlidar_ros_driver test_gmapping.launch

If the following screen appears, it means the operation is successful.

image-20231114113631451

2. Save map

Input following command: 

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rosrun map_server map_saver -f ~/ydlidar_ws/src/ydlidar_ros_driver-master/maps/map

The map will be saved to the path ~/ydlidar_ws/src/ydlidar_ros_driver-master/maps

A pgm picture and a yaml file.

map.yaml

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image: /home/yahboom/ydlidar_ws/src/ydlidar_ros_driver-master/maps/map.pgm
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

Parameter analysis:

  • image: The path of the map file, which can be an absolute path or a relative path.

  • resolution: resolution of the map, meters/pixel

  • Origin: 2D pose (x, y, yaw) in the lower left corner of the map. The yaw here is rotated counterclockwise (yaw=0 means no rotation

    change). Many parts of the current system ignore the yaw value.

  • negate: whether to reverse the meaning of white/black and free/occupied (the interpretation of the threshold is not affected)

  • occupied_thresh: Pixels with an occupation probability greater than this threshold will be considered fully occupied.

  • free_thresh: Pixels with occupancy probability less than this threshold will be considered completely free.

3. View related information

View tf tree

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rosrun rqt_tf_tree rqt_tf_tree

View node communication

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rosrun rqt_graph rqt_graph

4. Algorithm information reference website

4.1 Mapping algorithm

Gmapping：http://wiki.ros.org/gmapping/

hector_slam：http://wiki.ros.org/hector_slam

hector_slam/Tutorials：http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot

hector_mapping：http://wiki.ros.org/hector_mapping

karto：http://wiki.ros.org/slam_karto

Cartographer：https://google-cartographer.readthedocs.io/en/latest/

Cartographer ROS：https://google-cartographer-ros.readthedocs.io/en/latest/

4.2 Autonomous mapping navigation

rrt_exploration：http://wiki.ros.org/rrt_exploration

rrt_exploration/Tutorials：http://wiki.ros.org/rrt_exploration/Tutorials

4.3 Save map

map_server：https://wiki.ros.org/map_server

Preparation
Lidar avoiding

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