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YDLIDAR

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.

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 If you have never installed YDLidar-SDK library or it is out of date, you must first install YDLidar-SDK library.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

    CMAKE Finished

    >Note: If the following error occurs, Please install YDLIDAR/YDLidar-SDK first.

    CMAKE ERROR

  3. 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
    
  4. 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

  5. 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

  1. Connect LiDAR uint(s).

    ros2 launch ydlidar_ros2_driver ydlidar_launch.py 
    

    or

    launch $(ros2 pkg prefix ydlidar_ros2_driver)/share/ydlidar_ros2_driver/launch/ydlidar.py 
    
  2. RVIZ

    ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py 
    

    View

  3. echo scan topic

    ros2 run ydlidar_ros2_driver ydlidar_ros2_driver_client or ros2 topic echo /scan
    
Launch file introduction

The driver offers users a wealth of options when using different launch file. The launch file directory

is "ydlidar_ros2_ws/src/ydlidar_ros2_driver/launch". All launch files are listed as below :

launch file features
ydlidar.py Connect to defualt paramters
Publish LaserScan message on scan topic
ydlidar_launch.py Connect ydlidar.yaml Lidar specified by configuration parameters
Publish LaserScan message on scan topic
ydlidar_launch_view.py Connect ydlidar.yaml Lidar specified by configuration parameters and setup RVIZ
Publish LaserScan message on scan topic

Publish Topic

Topic Type Description
scan sensor_msgs/LaserScan 2D laser scan of the 0-angle ring

Subscribe Service

Service Type Description
stop_scan std_srvs::Empty turn off lidar
start_scan std_srvs::Empty turn on lidar

Configure ydlidar_ros_driver internal parameter

The ydlidar_ros2_driver internal parameters are in the launch file, they are listed as below :

Parameter name Data Type detail
port string Set Lidar the serial port or IP address
it can be set to /dev/ttyUSB0, 192.168.1.11, etc.
default: /dev/ydlidar
frame_id string Lidar TF coordinate system name.
default: laser_frame
ignore_array string LiDAR filtering angle area
eg: -90, -80, 30, 40
baudrate int Lidar baudrate or network port.
default: 230400
lidar_type int Set lidar type
0 -- TYPE_TOF
1 -- TYPE_TRIANGLE
2 -- TYPE_TOF_NET
default: 1
device_type int Set device type
0 -- YDLIDAR_TYPE_SERIAL
1 -- YDLIDAR_TYPE_TCP
2 -- YDLIDAR_TYPE_UDP
default: 0
sample_rate int Set Lidar Sample Rate.
default: 9
abnormal_check_count int Set the number of abnormal startup data attempts.
default: 4
fixed_resolution bool Fixed angluar resolution.
default: true
reversion bool Reversion LiDAR.
default: true
inverted bool Inverted LiDAR.
false -- ClockWise.
true -- CounterClockWise
default: true
auto_reconnect bool Automatically reconnect the LiDAR.
true -- hot plug.
default: true
isSingleChannel bool Whether LiDAR is a single-channel.
default: false
intensity bool Whether LiDAR has intensity.
true -- G2 LiDAR.
default: false
support_motor_dtr bool Whether the Lidar can be started and stopped by Serial DTR.
default: false
angle_min float Minimum Valid Angle.
default: -180
angle_max float Maximum Valid Angle.
default: 180
range_min float Minimum Valid range.
default: 0.1
range_max float Maximum Valid range.
default: 16.0
frequency float Set Scanning Frequency.
default: 10.0
invalid_range_is_inf bool Invalid Range is inf.
true -- inf.
false -- 0.0.
default: false
More paramters details, see here

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Development Path

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