YDLIDAR ROS2 Driver

ydlidar_ros2_driver is a new ros package, which is designed to gradually become the standard driver package for ydlidar devices in the ros2 environment.

How to install ROS2

ubuntu

windows

How to Create a ROS2 workspace

Create a workspace

Compile & Install YDLidar SDK

ydlidar_ros2_driver depends on YDLidar-SDK library. If you have never installed YDLidar-SDK library or it is out of date, you must first install YDLidar-SDK library. If you have installed the latest version of YDLidar-SDK, skip this step and go to the next step.

1. Download or clone the YDLIDAR/YDLidar-SDK repository on GitHub.
2. Compile and install the YDLidar-SDK under the build directory following README.md of YDLIDAR/YDLidar-SDK.

Clone ydlidar_ros2_driver

1. Clone ydlidar_ros2_driver package for github :

   git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver

2. Build ydlidar_ros2_driver package :

   cd ydlidar_ros2_ws
   colcon build --symlink-install
   

Note: install colcon see

1. Package environment setup :

   source ./install/setup.bash

   Note: Add permanent workspace environment variables. It’s convenientif the ROS2 environment variables are automatically added to your bash session every time a new shell is launched:

    $echo "source ~/ydlidar_ros2_ws/install/setup.bash" >> ~/.bashrc
    $source ~/.bashrc
    

1. Confirmation To confirm that your package path has been set, printenv the grep -i ROS variable.

    $ printenv | grep -i ROS
    

You should see something similar to:
    `OLDPWD=/home/tony/ydlidar_ros2_ws/install`

1. Create serial port Alias [optional]

	$chmod 0777 src/ydlidar_ros2_driver/startup/*
	$sudo sh src/ydlidar_ros2_driver/startup/initenv.sh
    

Note: After completing the previous operation, replug the LiDAR again.

Configure LiDAR paramters

ydlidar_ros2_driver_node:
  ros__parameters:
    port: /dev/ttyUSB0
    frame_id: laser_frame
    ignore_array: ""
    baudrate: 230400
    lidar_type: 1
    device_type: 0
    sample_rate: 9
    abnormal_check_count: 4
    resolution_fixed: true
    reversion: true
    inverted: true
    auto_reconnect: true
    isSingleChannel: false
    intensity: false
    support_motor_dtr: false
    angle_max: 180.0
    angle_min: -180.0
    range_max: 64.0
    range_min: 0.01
    frequency: 10.0
    invalid_range_is_inf: false

Run ydlidar_ros2_driver

Run ydlidar_ros2_driver using launch file

The command format is :

ros2 launch ydlidar_ros2_driver [launch file].py

File truncated at 100 lines see the full file