From e22ed737cdb1383f72b656fb0df8ba8db5794cbb Mon Sep 17 00:00:00 2001 From: David Hu Date: Wed, 1 Mar 2023 23:04:26 +0800 Subject: [PATCH] =?UTF-8?q?[update]=E4=BC=98=E5=8C=96=E8=BD=AF=E4=BB=B6?= =?UTF-8?q?=E5=B7=A5=E7=A8=8B=E7=9B=AE=E5=BD=95=E5=92=8C=E5=B7=A5=E7=A8=8B?= =?UTF-8?q?=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6=EF=BC=8C=E6=9B=B4=E6=96=B0?= =?UTF-8?q?README(=E7=89=88=E6=9C=AC=E5=8F=B7v3.0.4)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 29 ++++-------- README.md | 46 ------------------- README_CN.md | 39 ++++++++++++++++ .../include/{core => }/ldlidar_datatype.h | 0 .../include/{core => }/ldlidar_driver.h | 0 .../include/{dataprocess => }/lipkg.h | 0 .../include/{logger => }/log_module.h | 0 .../{serialcom => }/serial_interface_linux.h | 0 .../include/{dataprocess => }/sl_transform.h | 0 ldlidar_driver/include/{filter => }/slbf.h | 0 .../src/{core => }/ldlidar_driver.cpp | 2 +- .../src/{dataprocess => }/lipkg.cpp | 0 .../src/{logger => }/log_module.cpp | 0 .../serial_interface_linux.cpp | 0 .../src/{dataprocess => }/sl_transform.cpp | 0 ldlidar_driver/src/{filter => }/slbf.cpp | 0 src/test_sys/CMakeLists.txt | 30 ++++-------- 17 files changed, 57 insertions(+), 89 deletions(-) create mode 100644 README_CN.md rename ldlidar_driver/include/{core => }/ldlidar_datatype.h (100%) rename ldlidar_driver/include/{core => }/ldlidar_driver.h (100%) rename ldlidar_driver/include/{dataprocess => }/lipkg.h (100%) rename ldlidar_driver/include/{logger => }/log_module.h (100%) rename ldlidar_driver/include/{serialcom => }/serial_interface_linux.h (100%) rename ldlidar_driver/include/{dataprocess => }/sl_transform.h (100%) rename ldlidar_driver/include/{filter => }/slbf.h (100%) rename ldlidar_driver/src/{core => }/ldlidar_driver.cpp (98%) rename ldlidar_driver/src/{dataprocess => }/lipkg.cpp (100%) rename ldlidar_driver/src/{logger => }/log_module.cpp (100%) rename ldlidar_driver/src/{serialcom => }/serial_interface_linux.cpp (100%) rename ldlidar_driver/src/{dataprocess => }/sl_transform.cpp (100%) rename ldlidar_driver/src/{filter => }/slbf.cpp (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 1509153..0c2b3f6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -22,35 +22,22 @@ endif() ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( - ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/core/ - ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/dataprocess/ - ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/filter/ - ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/logger/ - ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/serialcom/ + ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include ) -file(GLOB LDLIDAR_DRI_CORE ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/core/*.cpp) -file(GLOB LDLIDAR_DRI_DATARPC ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/dataprocess/*.cpp) -file(GLOB LDLIDAR_DRI_FILTER ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/filter/*.cpp) -file(GLOB LDLIDAR_DRI_LOGGER ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/logger/*.cpp) -file(GLOB LDLIDAR_DRI_SERIAL ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/serialcom/*.cpp) +file(GLOB LDLIDAR_DRI ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/*.cpp) -add_executable(${PROJECT_NAME}_node ${CMAKE_CURRENT_SOURCE_DIR}/src/linux_demo/demo.cpp) +add_executable( + ${PROJECT_NAME}_node + ${CMAKE_CURRENT_SOURCE_DIR}/src/linux_demo/demo.cpp +) add_library(ldlidar_driver_static STATIC - ${LDLIDAR_DRI_CORE} - ${LDLIDAR_DRI_DATARPC} - ${LDLIDAR_DRI_FILTER} - ${LDLIDAR_DRI_LOGGER} - ${LDLIDAR_DRI_SERIAL} + ${LDLIDAR_DRI} ) add_library(ldlidar_driver_shared SHARED - ${LDLIDAR_DRI_CORE} - ${LDLIDAR_DRI_DATARPC} - ${LDLIDAR_DRI_FILTER} - ${LDLIDAR_DRI_LOGGER} - ${LDLIDAR_DRI_SERIAL} + ${LDLIDAR_DRI} ) # rename library name diff --git a/README.md b/README.md index 8802a15..3caaaf4 100644 --- a/README.md +++ b/README.md @@ -1,47 +1,3 @@ -- [cn](#操作指南) -- [en](#Instructions) -# 操作指南 - ->此SDK仅适用于深圳乐动机器人有限公司销售的激光雷达产品，产品型号为: -> - LDROBOT LiDAR LD14 - -## 0. 获取雷达的Linux SDK -```bash -$ cd ~ - -$ mkdir ldlidar_ws - -$ cd ldlidar_ws - -$ git clone https://github.com/ldrobotSensorTeam/ldlidar_sl_sdk.git -# 或者 -$ git clone https://gitee.com/ldrobotSensorTeam/ldlidar_sl_sdk.git -``` - -## 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. - -``` bash -$ cd ~/ldlidar_ws/ldlidar_sl_sdk - -$ sudo chmod 777 /dev/ttyUSB0 -``` - -## 2. 编译 - -```bash -$ cd ~/ldlidar_ws/ldlidar_sl_sdk -$ ./auto_build.sh -``` - -## 3. 运行 -``` bash -$ ./build/ldlidar_sl_node -# 例如 ./build/ldlidar_sl_node /dev/ttyS0 -``` - # Instructions > This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co., LTD. The product models are : > - LDROBOT LiDAR LD14 @@ -55,8 +11,6 @@ $ mkdir ldlidar_ws $ cd ldlidar_ws $ git clone https://github.com/ldrobotSensorTeam/ldlidar_sl_sdk.git -# or -$ git clone https://gitee.com/ldrobotSensorTeam/ldlidar_sl_sdk.git ``` ## step 1: system setup - Connect the LiDAR to your system motherboard via an onboard serial port or usB-to-serial module (for example, CP2102 module). diff --git a/README_CN.md b/README_CN.md new file mode 100644 index 0000000..72b1137 --- /dev/null +++ b/README_CN.md @@ -0,0 +1,39 @@ +# 操作指南 + +>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 + +## 0. 获取雷达的Linux SDK +```bash +$ cd ~ + +$ mkdir ldlidar_ws + +$ cd ldlidar_ws + +$ git clone https://github.com/ldrobotSensorTeam/ldlidar_sl_sdk.git +``` + +## 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. + +``` bash +$ cd ~/ldlidar_ws/ldlidar_sl_sdk + +$ sudo chmod 777 /dev/ttyUSB0 +``` + +## 2. 编译 + +```bash +$ cd ~/ldlidar_ws/ldlidar_sl_sdk +$ ./auto_build.sh +``` + +## 3. 运行 +``` bash +$ ./build/ldlidar_sl_node +# 例如 ./build/ldlidar_sl_node /dev/ttyS0 +``` \ No newline at end of file diff --git a/ldlidar_driver/include/core/ldlidar_datatype.h b/ldlidar_driver/include/ldlidar_datatype.h similarity index 100% rename from ldlidar_driver/include/core/ldlidar_datatype.h rename to ldlidar_driver/include/ldlidar_datatype.h diff --git a/ldlidar_driver/include/core/ldlidar_driver.h b/ldlidar_driver/include/ldlidar_driver.h similarity index 100% rename from ldlidar_driver/include/core/ldlidar_driver.h rename to ldlidar_driver/include/ldlidar_driver.h diff --git a/ldlidar_driver/include/dataprocess/lipkg.h b/ldlidar_driver/include/lipkg.h similarity index 100% rename from ldlidar_driver/include/dataprocess/lipkg.h rename to ldlidar_driver/include/lipkg.h diff --git a/ldlidar_driver/include/logger/log_module.h b/ldlidar_driver/include/log_module.h similarity index 100% rename from ldlidar_driver/include/logger/log_module.h rename to ldlidar_driver/include/log_module.h diff --git a/ldlidar_driver/include/serialcom/serial_interface_linux.h b/ldlidar_driver/include/serial_interface_linux.h similarity index 100% rename from ldlidar_driver/include/serialcom/serial_interface_linux.h rename to ldlidar_driver/include/serial_interface_linux.h diff --git a/ldlidar_driver/include/dataprocess/sl_transform.h b/ldlidar_driver/include/sl_transform.h similarity index 100% rename from ldlidar_driver/include/dataprocess/sl_transform.h rename to ldlidar_driver/include/sl_transform.h diff --git a/ldlidar_driver/include/filter/slbf.h b/ldlidar_driver/include/slbf.h similarity index 100% rename from ldlidar_driver/include/filter/slbf.h rename to ldlidar_driver/include/slbf.h diff --git a/ldlidar_driver/src/core/ldlidar_driver.cpp b/ldlidar_driver/src/ldlidar_driver.cpp similarity index 98% rename from ldlidar_driver/src/core/ldlidar_driver.cpp rename to ldlidar_driver/src/ldlidar_driver.cpp index 67857fa..4ca8a02 100644 --- a/ldlidar_driver/src/core/ldlidar_driver.cpp +++ b/ldlidar_driver/src/ldlidar_driver.cpp @@ -24,7 +24,7 @@ namespace ldlidar { bool LDLidarDriver::is_ok_ = false; -LDLidarDriver::LDLidarDriver() : sdk_pack_version_("3.0.3"), +LDLidarDriver::LDLidarDriver() : sdk_pack_version_("3.0.4"), is_start_flag_(false), comm_pkg_(new LiPkg()), comm_serial_(new SerialInterfaceLinux()){ diff --git a/ldlidar_driver/src/dataprocess/lipkg.cpp b/ldlidar_driver/src/lipkg.cpp similarity index 100% rename from ldlidar_driver/src/dataprocess/lipkg.cpp rename to ldlidar_driver/src/lipkg.cpp diff --git a/ldlidar_driver/src/logger/log_module.cpp b/ldlidar_driver/src/log_module.cpp similarity index 100% rename from ldlidar_driver/src/logger/log_module.cpp rename to ldlidar_driver/src/log_module.cpp diff --git a/ldlidar_driver/src/serialcom/serial_interface_linux.cpp b/ldlidar_driver/src/serial_interface_linux.cpp similarity index 100% rename from ldlidar_driver/src/serialcom/serial_interface_linux.cpp rename to ldlidar_driver/src/serial_interface_linux.cpp diff --git a/ldlidar_driver/src/dataprocess/sl_transform.cpp b/ldlidar_driver/src/sl_transform.cpp similarity index 100% rename from ldlidar_driver/src/dataprocess/sl_transform.cpp rename to ldlidar_driver/src/sl_transform.cpp diff --git a/ldlidar_driver/src/filter/slbf.cpp b/ldlidar_driver/src/slbf.cpp similarity index 100% rename from ldlidar_driver/src/filter/slbf.cpp rename to ldlidar_driver/src/slbf.cpp diff --git a/src/test_sys/CMakeLists.txt b/src/test_sys/CMakeLists.txt index 955eab8..ca7743b 100644 --- a/src/test_sys/CMakeLists.txt +++ b/src/test_sys/CMakeLists.txt @@ -22,35 +22,19 @@ endif() ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( - ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/include/core/ - ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/include/dataprocess/ - ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/include/filter/ - ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/include/logger/ - ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/include/serialcom/ + ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/include ) -file(GLOB LDLIDAR_DRI_CORE ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/src/core/*.cpp) -file(GLOB LDLIDAR_DRI_DATARPC ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/src/dataprocess/*.cpp) -file(GLOB LDLIDAR_DRI_FILTER ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/src/filter/*.cpp) -file(GLOB LDLIDAR_DRI_LOGGER ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/src/logger/*.cpp) -file(GLOB LDLIDAR_DRI_SERIAL ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/src/serialcom/*.cpp) +file(GLOB LDLIDAR_DRI ${CMAKE_CURRENT_SOURCE_DIR}/../../ldlidar_driver/src/*.cpp) add_executable(${PROJECT_NAME}_node ${CMAKE_CURRENT_SOURCE_DIR}/test.cpp) add_library(ldlidar_driver_static STATIC - ${LDLIDAR_DRI_CORE} - ${LDLIDAR_DRI_DATARPC} - ${LDLIDAR_DRI_FILTER} - ${LDLIDAR_DRI_LOGGER} - ${LDLIDAR_DRI_SERIAL} + ${LDLIDAR_DRI} ) add_library(ldlidar_driver_shared SHARED - ${LDLIDAR_DRI_CORE} - ${LDLIDAR_DRI_DATARPC} - ${LDLIDAR_DRI_FILTER} - ${LDLIDAR_DRI_LOGGER} - ${LDLIDAR_DRI_SERIAL} + ${LDLIDAR_DRI} ) # rename library name @@ -58,7 +42,11 @@ set_target_properties (ldlidar_driver_static PROPERTIES OUTPUT_NAME "ldlidar_dri set_target_properties (ldlidar_driver_shared PROPERTIES OUTPUT_NAME "ldlidar_driver") # binary file link to library -target_link_libraries(${PROJECT_NAME}_node ldlidar_driver_static pthread wiringPi) +target_link_libraries(${PROJECT_NAME}_node + ldlidar_driver_static + pthread + wiringPi +) ########### ## Install ##