ros-X4
所属分类：其他
开发工具：C/C++
文件大小：3077KB
下载次数：2
上传日期：2020-05-21 07:39:35
上 传 者：
瀚大大
说明： 2D激光雷达是slam的重要应用，该包是一个驱动包。在ros中可以使用该驱动，可以在rviz中显示2D激雷达扫描的点云图像。首先需要进行编译在ros中。
(2D lidar is an important application of slam, which is a driving package. The driver can be used in ROS to display the point cloud image scanned by 2D lidar in rviz. First you need to compile it in ROS.)
文件列表:
ros-X4 (0, 2020-01-15)
ros-X4\YDLIDAR ROS 使用手册.pdf (921878, 2019-12-17)
CMakeLists.txt (1128, 2020-01-15)
launch (0, 2020-01-15)
launch\display.launch (1555, 2020-01-15)
launch\G1.launch (1091, 2020-01-15)
launch\G2.launch (1091, 2020-01-15)
launch\G2C.launch (1091, 2020-01-15)
launch\G4.launch (1091, 2020-01-15)
launch\G6.launch (1092, 2020-01-15)
launch\gazebo.launch (556, 2020-01-15)
launch\lidar.launch (1096, 2020-01-15)
launch\lidar.rviz (4008, 2020-01-15)
launch\lidar_view.launch (174, 2020-01-15)
launch\R2.launch (1091, 2020-01-15)
launch\S2.launch (1157, 2020-01-15)
launch\S4.launch (1091, 2020-01-15)
launch\TG.launch (1153, 2020-01-15)
launch\TX8.launch (1218, 2020-01-15)
launch\X2L.launch (1157, 2020-01-15)
launch\X4.launch (1091, 2020-01-15)
meshes (0, 2020-01-15)
meshes\ydlidar.dae (2960385, 2020-01-15)
meshes\ydlidar.png (6679, 2020-01-15)
package.xml (2120, 2020-01-15)
sdk (0, 2020-01-15)
sdk\CMakeLists.txt (654, 2020-01-15)
sdk\doc (0, 2020-01-15)
sdk\doc\Doxyfile (108079, 2020-01-15)
sdk\doc\html (0, 2020-01-15)
sdk\doc\html\angles_8h_source.html (32484, 2020-01-15)
sdk\doc\html\annotated.html (14187, 2020-01-15)
sdk\doc\html\app(2).png (1613, 2020-01-15)
sdk\doc\html\arrowdown.png (246, 2020-01-15)
sdk\doc\html\arrowright.png (229, 2020-01-15)
sdk\doc\html\bc_s.png (676, 2020-01-15)
sdk\doc\html\bdwn.png (147, 2020-01-15)
... ...
YDLIDAR ROS驱动包(V1.4.5)
=====================================================================
怎么构建ROS驱动包
=====================================================================
1) Clone this project to your catkin's workspace src folder
(1). git clone https://github.com/YDLIDAR/ydlidar_ros
(2). git chectout gaussian
2) Running catkin_make to build ydlidar_node and ydlidar_client
3) Create the name "/dev/ydlidar" for YDLIDAR
--$ roscd ydlidar_ros/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh
怎样运行YDLIDAR ROS 包
=====================================================================
有两种方式运行方式
1. 运行YDLIDAR 节点并在RVIZ上显示
------------------------------------------------------------
roslaunch ydlidar_ros lidar_view.launch
2.运行YDLIDAR 节点在终端上显示
------------------------------------------------------------
roslaunch ydlidar_ros lidar.launch
rosrun ydlidar_ros ydlidar_client
配置参数
=====================================================================
port (string, default: /dev/ydlidar)
当前雷达端口号
baudrate (int, default:230400)
当前雷达波特率(G2 G2A: 230400, G2C:115200)
frame_id (string, default: laser_frame)
雷达坐标系名称
reversion (bool, default: true)
是否旋转雷达数据180度
resolution_fixed (bool, default: true)
是否固定角度分辨率输出
auto_reconnect(bool, default: true)
是否雷达支持热插拔
angle_min (double, default: -180)
雷达最小有效角度
angle_max (double, default: 180)
雷达最大有效角度
range_min (double, default: 0.08)
雷达最小有效距离
range_max (double, default: 16.0)
雷达最大有效距离
ignore_array (string, default: "")
剔除角度列表
frequency (double, default: 10)
雷达扫描频率
samp_rate (int, default: 5)
雷达采样频率
isSingleChannel(bool, default: false)
是否是单通讯雷达(S2, X2, X2L, TX8, TX20)
isTOFLidar(bool, default: false)
是否是单通信TOF雷达(TG15 TG30,TG50, TX8, TX20)
更新日志
=====================================================================
2020-01-04 version:1.4.5
1.支持新旧协议TOF雷达(版本号小于1.3是旧协议雷达)
1.支持单通道雷达获取序列号和版本号信息
2019-12-03 version:1.4.4
1.支持所有标品序列雷达
2019-12-03 version:1.4.3
1.支持G4, G6,G1, TG序列雷达
2019-07-16 version:1.4.2
1.扫描频率偏移
2019-03-25 version:1.4.1
1.修复内存泄露.
2019-03-25 version:1.4.0
1.修复时间戳错误
2.雷达启动异常检测
3.移除别的雷达型号支持, 仅仅支持G2A雷达
4.优化turnOn 和 turnOff
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