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[update]增加激光雷达ROS1驱动对LD14P的支持，并更新README(版本号v3.0.5)
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| Original file line number | Diff line number | Diff line change |
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| # 操作指南 | ||
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| >此SDK仅适用于深圳乐动机器人有限公司销售的激光雷达产品，产品型号为: | ||
| > - LDROBOT LiDAR LD14 | ||
| > - LDROBOT LiDAR LD14P | ||
| ## 0. 获取雷达的ROS功能包 | ||
| ```bash | ||
| cd ~ | ||
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| mkdir -p ldlidar_ros_ws/src | ||
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| cd ldlidar_ros_ws/src | ||
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| git clone https://github.com/ldrobotSensorTeam/ldlidar_sl_ros.git | ||
| ``` | ||
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| ## 1. 系统设置 | ||
| - 第一步，通过板载串口或者USB转串口模块(例如,cp2102模块)的方式使雷达连接到你的系统主板. | ||
| - 第二步，设置雷达在系统中挂载的串口设备-x权限(以/dev/ttyUSB0为例) | ||
| - 实际使用时，根据雷达在你的系统中的实际挂载情况来设置，可以使用`ls -l /dev`命令查看. | ||
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| ``` bash | ||
| cd ~/ldlidar_ros_ws | ||
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| sudo chmod 777 /dev/ttyUSB0 | ||
| ``` | ||
| - 第三步，修改`launch/`目录下雷达产品型号对应的lanuch文件中的`port_name`值，以ld14.launch为例，如下所示. | ||
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| ```xml | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="topic_name" default="scan"/> | ||
| <arg name="frame_id" default="base_laser"/> | ||
| <arg name="port_name" default="/dev/ttyUSB0"/> | ||
| <arg name="fix_to_base_link" default="true" /> | ||
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| <!-- LDROBOT LiDAR message publisher node --> | ||
| <node name="ldlidar_publisher_ld14" pkg="ldlidar_sl_ros" type="ldlidar_sl_ros_node" output="screen"> | ||
| <param name="product_name" value="LDLiDAR_LD14"/> | ||
| <param name="topic_name" value="$(arg topic_name)"/> | ||
| <param name="frame_id" value="$(arg frame_id)"/> | ||
| <param name="port_name" value ="$(arg port_na<?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="laser_scan_topic_name" default="scan"/> | ||
| <arg name="point_cloud_2d_topic_name" default="pointcloud2d"/> | ||
| <arg name="frame_id" default="base_laser"/> | ||
| <arg name="port_name" default="/dev/ttyUSB0"/> | ||
| <arg name="fix_to_base_link" default="true" /> | ||
| <!-- LDROBOT LiDAR message publisher node --> | ||
| <node name="ldlidar_publisher_ld14" pkg="ldlidar_sl_ros" type="ldlidar_sl_ros_node" output="screen"> | ||
| <param name="product_name" value="LDLiDAR_LD14"/> | ||
| <param name="laser_scan_topic_name" value="$(arg laser_scan_topic_name)"/> | ||
| <param name="point_cloud_2d_topic_name" value="$(arg point_cloud_2d_topic_name)"/> | ||
| <param name="frame_id" value="$(arg frame_id)"/> | ||
| <param name="port_name" value="$(arg port_name)"/> | ||
| <param name="serial_baudrate" value="115200"/> | ||
| <!-- Set laser scan directon: --> | ||
| <!-- 1. Set counterclockwise, example: <param name="laser_scan_dir" type="bool" value="true"/> --> | ||
| <!-- 2. Set clockwise, example: <param name="laser_scan_dir" type="bool" value="false"/> --> | ||
| <param name="laser_scan_dir" type="bool" value="true"/> | ||
| <!-- Angle crop setting, Mask data within the set angle range --> | ||
| <!-- 1. Enable angle crop fuction: --> | ||
| <!-- 1.1. enable angle crop, example: <param name="enable_angle_crop_func" type="bool" value="true"/> --> | ||
| <!-- 1.2. disable angle crop, example: <param name="enable_angle_crop_func" type="bool" value="false"/> --> | ||
| <param name="enable_angle_crop_func" type="bool" value="false"/> | ||
| <!-- 2. Angle cropping interval setting, The distance and intensity data within the set angle range will be set to 0 --> | ||
| <!-- angle >= "angle_crop_min" and angle <= "angle_crop_max", unit is degress --> | ||
| <param name="angle_crop_min" type="double" value="135.0"/> | ||
| <param name="angle_crop_max" type="double" value="225.0"/> | ||
| </node> | ||
| <!-- LDROBOT LiDAR message subscriber node --> | ||
| <!-- node name="ldlidar_listener_ld14" pkg="ldlidar_sl_ros" type="ldlidar_sl_ros_listen_node" output="screen"> | ||
| <param name="topic_name" value="scan"/> | ||
| </node --> | ||
| <!-- publisher tf transform, parents frame is base_link, child frame is base_laser --> | ||
| <!-- args="x y z yaw pitch roll parents_frame_id child_frame_id period_in_ms"--> | ||
| <node name="base_to_laserLD14" pkg="tf" type="static_transform_publisher" args="0.0 0.0 0.18 0 0.0 0.0 base_link base_laser 50" if="$(arg fix_to_base_link)"/> | ||
| </launch> | ||
| ``` | ||
| ## 2. 编译方法 | ||
| - 安装src/目录下功能包的依赖 | ||
| ```bash | ||
| cd ~/ldlidar_ros_ws | ||
| rosdep install --from-paths src --ignore-src -r -y | ||
| ``` | ||
| - 使用catkin编译. | ||
| ```bash | ||
| cd ~/ldlidar_ros_ws | ||
| catkin_make | ||
| ``` | ||
| ## 3. 运行方法 | ||
| ### 3.1. 设置功能包环境变量 | ||
| - 编译完成后需要将编译生成的相关文件加入环境变量，便于 ROS 环境可以识别， 执行命令如下所示， 该命令是临时给终端加入环境变量，意味着您如果重新打开新的终端，也需要重新执行如下命令. | ||
| ```bash | ||
| cd ~/ldlidar_ros_ws | ||
| source devel/setup.bash | ||
| ``` | ||
| - 为了重新打开终端后，永久不用执行上述添加环境变量的命令，可以进行如下操作. | ||
| ```bash | ||
| echo "source ~/ldlidar_ros_ws/devel/setup.bash" >> ~/.bashrc | ||
| source ~/.bashrc | ||
| ``` | ||
| ### 3.2. 启动激光雷达节点 | ||
| - 产品型号为 LDROBOT LiDAR LD14 | ||
| - 启动ld14 lidar node: | ||
| ``` bash | ||
| roslaunch ldlidar_sl_ros ld14.launch | ||
| ``` | ||
| - 启动ld14 lidar node并显示激光数据在Rviz上: | ||
| ``` bash | ||
| # if ROS_DISTRO in 'kinetic' or 'melodic' | ||
| roslaunch ldlidar_sl_ros viewer_ld14_kinetic_melodic.launch | ||
| # if ROS_DISTRO in 'noetic' | ||
| roslaunch ldlidar_sl_ros viewer_ld14_noetic.launch | ||
| ``` | ||
| - 产品型号为 LDROBOT LiDAR LD14P | ||
| - 启动ld14p lidar node: | ||
| ``` bash | ||
| roslaunch ldlidar_sl_ros ld14p.launch | ||
| ``` | ||
| - 启动ld14p lidar node并显示激光数据在Rviz上: | ||
| ``` bash | ||
| # if ROS_DISTRO in 'kinetic' or 'melodic' | ||
| roslaunch ldlidar_sl_ros viewer_ld14p_kinetic_melodic.launch | ||
| # if ROS_DISTRO in 'noetic' | ||
| roslaunch ldlidar_sl_ros viewer_ld14p_noetic.launch | ||
| ``` | ||
| ## 4. 测试 | ||
| > 代码支持ubuntu16.04 ROS kinetic、ubuntu18.04 ROS melodic、ubuntu20.04 ROS noetic版本下测试，使用rviz可视化。 | ||
| - 新打开一个终端 (Ctrl + Alt + T),并通过Rviz工具打开readme文件所在目录的rviz文件夹下面的rviz配置文件 | ||
| ```bash | ||
| rviz | ||
| ``` |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="laser_scan_topic_name" default="scan"/> | ||
| <arg name="point_cloud_2d_topic_name" default="pointcloud2d"/> | ||
| <arg name="frame_id" default="base_laser"/> | ||
| <arg name="port_name" default="/dev/ttyUSB0"/> | ||
| <arg name="fix_to_base_link" default="true" /> | ||
|
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| <!-- LDROBOT LiDAR message publisher node --> | ||
| <node name="ldlidar_publisher_ld14" pkg="ldlidar_sl_ros" type="ldlidar_sl_ros_node" output="screen"> | ||
| <param name="product_name" value="LDLiDAR_LD14P"/> | ||
| <param name="laser_scan_topic_name" value="$(arg laser_scan_topic_name)"/> | ||
| <param name="point_cloud_2d_topic_name" value="$(arg point_cloud_2d_topic_name)"/> | ||
| <param name="frame_id" value="$(arg frame_id)"/> | ||
| <param name="port_name" value="$(arg port_name)"/> | ||
| <param name="serial_baudrate" value="230400"/> | ||
| <!-- Set laser scan directon: --> | ||
| <!-- 1. Set counterclockwise, example: <param name="laser_scan_dir" type="bool" value="true"/> --> | ||
| <!-- 2. Set clockwise, example: <param name="laser_scan_dir" type="bool" value="false"/> --> | ||
| <param name="laser_scan_dir" type="bool" value="true"/> | ||
| <!-- Angle crop setting, Mask data within the set angle range --> | ||
| <!-- 1. Enable angle crop fuction: --> | ||
| <!-- 1.1. enable angle crop, example: <param name="enable_angle_crop_func" type="bool" value="true"/> --> | ||
| <!-- 1.2. disable angle crop, example: <param name="enable_angle_crop_func" type="bool" value="false"/> --> | ||
| <param name="enable_angle_crop_func" type="bool" value="false"/> | ||
| <!-- 2. Angle cropping interval setting, The distance and intensity data within the set angle range will be set to 0 --> | ||
| <!-- angle >= "angle_crop_min" and angle <= "angle_crop_max", unit is degress --> | ||
| <param name="angle_crop_min" type="double" value="135.0"/> | ||
| <param name="angle_crop_max" type="double" value="225.0"/> | ||
| </node> | ||
| <!-- publisher tf transform, parents frame is base_link, child frame is base_laser --> | ||
| <!-- args="x y z yaw pitch roll parents_frame_id child_frame_id period_in_ms"--> | ||
| <node name="base_to_laserLD14" pkg="tf" type="static_transform_publisher" args="0.0 0.0 0.18 0 0.0 0.0 base_link base_laser 50" if="$(arg fix_to_base_link)"/> | ||
| </launch> |
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