codingtello2 / cyglidar_d1

cyglidar_d1(ROS1)

cyglidar_d1 is a ROS package, which is designed to visualize 2D/3D distance dataset in real-time. For more details in CygLiDAR, please visit http://www.cygbot.com

How to use this package

Preparation

mkdir -p ~/cyglidar_ws/src/
cd ~/cyglidar_ws/src/
git clone https://github.com/CygLiDAR-ROS/cyglidar_d1.git
cd ..
catkin_make

• When CMake Error Occured as below

pcl_conversionsConfig.cmake / pcl_conversions-config.cmake

pcl_rosConfig.cmake / pcl_ros-config.cmake

sudo apt install ros-noetic-pcl-conversions
sudo apt install ros-noetic-pcl-ros
---or---
sudo apt install ros-melodic-pcl-conversions
sudo apt install ros-melodic-pcl-ros

Installation Udev

Install the udev rule

roscd cyglidar_d1
cd scripts
chmod +x create_udev_rules.sh
./create_udev_rules.sh

Parameters in 'cyglidar.launch' File

In cyglidar.launch, the run mode number can be switched to 0, 1 and 2 for 2D, 3D and Dual(2D/3D)

And the others can be switched respectively as below:

Run CyglidarNode and View in the Rviz

roslaunch cyglidar_d1_ros1 cyglidar.launch
roslaunch cyglidar_d1_ros1 view_cyglidar.launch  (Run with Rviz)

Topic Image Updated

The measured distance datas in Rviz can be viewed as an 'Image Topic(MONO16)'. You can adjust the min/max value to specify a view based on distance.

Note

In Rviz, the fixed frame and the topics for Point Cloud are as follows:

Frame ID

/laser_frame

Fixed Frame

/map

Cyglidar Topic List

/scan       (LaserScan)
/scan_2D    (PointCloud XYZRGBA)
/scan_3D    (PointCloud XYZRGBA)
/scan_image (Image)