Lidar - YDLidar G2

Setup

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• sourceYDLidar-SDK/how_to_build_and_install.md at master · YDLIDAR/YDLidar-SDK
• https://github.com/YDLIDAR/ydlidar_ros_driver

cd catkin_ws/src

git clone <https://github.com/YDLIDAR/ydlidar_ros_driver.git>

catkin_make

source ./devel/setup.sh

echo "source ~/ycatkin_ws/devel/setup.bash" >> ~/.bashrc # if alreay exist then pass

source ~/.bashrc

echo $ROS_PACKAGE_PATH
# Verify that your package path is set, echo the ROS_PACKAGE_PATH variable

#[Optional]
chmod 0777 src/ydlidar_ros_driver/startup/*

sudo sh src/ydlidar_ros_driver/startup/initenv.sh

Run the ydlidar_ros_driver

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roslaunch ydlidar_ros_driver G2.launch

RVIZ View Scan Results

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roslaunch ydlidar_ros_driver lidar_view.launch

Angle range setting

• G2.launch

<launch>
  <node name="ydlidar_lidar_publisher"  pkg="ydlidar_ros_driver"  type="ydlidar_ros_driver_node" output="screen" respawn="false" >
    <!-- string property -->
    <param name="port"         type="string" value="/dev/ydlidar"/>  
    <param name="frame_id"     type="string" value="laser_frame"/>
    <param name="ignore_array"     type="string" value=""/>

    <!-- int property -->
    <param name="baudrate"         type="int" value="230400"/>  
    <!-- 0:TYPE_TOF, 1:TYPE_TRIANGLE, 2:TYPE_TOF_NET -->
    <param name="lidar_type"       type="int" value="1"/>  
    <!-- 0:YDLIDAR_TYPE_SERIAL, 1:YDLIDAR_TYPE_TCP -->
    <param name="device_type"         type="int" value="0"/>  
    <param name="sample_rate"         type="int" value="5"/>  
    <param name="abnormal_check_count"         type="int" value="4"/>  

    <!-- bool property -->
    <param name="resolution_fixed"    type="bool"   value="true"/>
    <param name="auto_reconnect"    type="bool"   value="true"/>
    <param name="reversion"    type="bool"   value="true"/>
    <param name="inverted"    type="bool"   value="true"/>
    <param name="isSingleChannel"    type="bool"   value="false"/>
    <param name="intensity"    type="bool"   value="true"/>
    <param name="support_motor_dtr"    type="bool"   value="false"/>
    <param name="invalid_range_is_inf"    type="bool"   value="false"/>
    <param name="point_cloud_preservative"    type="bool"   value="false"/>

    <!-- float property -->
    <param name="angle_min"    type="double" value="-180" />
    <param name="angle_max"    type="double" value="180" />
    <param name="range_min"    type="double" value="0.1" />
    <param name="range_max"    type="double" value="16.0" />
    <param name="frequency"    type="double" value="10.0"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
    args="0.0 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40" />
</launch>