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#　YDLIDAR ROS2 Package Download and Build ##　Step1: create a ROS2 workspace, if there is no workspace, othereise Skip to Step2 ####　Linux/OS X $mkdir -p ~/ydlidar_ros2_ws/src $cd ~/ydlidar_ros2_ws/src ####　Windows $md \dev\ydlidar_ros2_ws\src $cd \dev\ydlidar_ros2_ws\src

##　Step2: clone ydlidar ros2 package $git clone https://github.com/YDLIDAR/ydlidar_ros2

##　Step3: Build ydlidar_ros2 package $cd .. $colcon build --symlink-install Note: install colcon see

##　Step4:Configure LiDAR paramters

ydlidar_node:
	ros__parameters:
		port: /dev/ttyUSB0
		frame_id: laser_frame
		ignore_array: ""
			baudrate: 230400
			samp_rate: 9
			resolution_fixed: true
			singleChannel: false    
			auto_reconnect: true
			reversion: true
			isToFLidar: false
			angle_max: 180.0
			angle_min: -180.0
			max_range: 16.0    
			min_range: 0.01
			frequency: 10.0

Note: How to configure paramters, see here

Step5: Create serial port Alias[/dev/ydlidar]

$chmod 0777 src/ydlidar_ros2/startup/*
$sudo sh src/ydlidar_ros2/startup/initenv.sh

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

##　Step6:Run ydlidar_ros2 node $ros2 run ydlidar ydlidar_node

$ros2 run ydlidar ydlidar_client

or

$ros2 launch ydlidar ydlidar_launch.py

$ros2 run ydldiar ydlidar_client

or

$ros2 topic echo /scan