AlessioMorale / ld06_lidar

ROS1 package for LDRobotic LD06 Lidar

LD06 Lidar ROS driver

This is an attempt to fix and improve the driver provided by LDRobots in their website

Parameters

The ldlidar node supports the following parameters:

• serial_port used to override the autodetect and select a specific port
• lidar_frame used to override the defauld lidar_frame frame_id for the sensor_msgs/laserscan topic generated by this node.

An example launch file including all parameters is provided below:

<launch>
 <node name="LD06" pkg="ldlidar" type="ldlidar" args="LD06" output="screen" >
    <param name="serial_port" value="/dev/ttyUSB12"/>
    <param name="lidar_frame" value="my_new_lidar_frame"/>
 </node>
</launch>

Building the driver

# create a workspace folder (or use the existing workspace for your robot)
mkdir -p lidar_driver_ws/src
cd lidar_driver_ws/src
# clone the repo within a workspace
git clone https://github.com/AlessioMorale/ld06_lidar.git
cd ..
# install all prerequisites & build
rosdep install --from-paths src --ignore-src -y
catkin build

ROS Support

• Kinetic
• Melodic
• Noetic