linin00 / ydlidar_ros2

ydlidar ros2 package

YDLIDAR ROS2 PACKAGE V1.4.5

ROS2 node and test application for YDLIDAR

Visit EAI Website for more details about YDLIDAR.

How to install ROS2

ubuntu

windows

How to Create a ROS2 workspace

Create a workspace

How to build YDLIDAR ros2 package

1) Clone this project to your ament's workspace src folder 
2) Running ament to build ydlidar_node and ydlidar_client
3) Create the name "/dev/ydlidar" for YDLIDAR
--$ cd workspace/ydlidar_ros2/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh

Note: Download and Build details here

How to run YDLIDAR ros2 package

1. Run YDLIDAR node and view using test application

$ros2 run ydlidar ydlidar_node

$ros2 run ydlidar ydlidar_client

Note: You should see YDLIDAR's scan result in the console

2.Run YDLIDAR node and view using test application by launch

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

$ros2 run ydldiar ydlidar_client or ros2 topic echo /scan

or

$ros2 launch ydlidar ydlidar_launch.py

Dataset

LIDAR	Model	Baudrate	SampleRate(K)	Range(m)	Frequency(HZ)	Intenstiy(bit)	SingleChannel	voltage(V)
F4	1	115200	4	0.12~12	5~12	false	false	4.8~5.2
S4	4	115200	4	0.10~8.0	5~12 (PWM)	false	false	4.8~5.2
S4B	4/11	153600	4	0.10~8.0	5~12(PWM)	true(8)	false	4.8~5.2
S2	4/12	115200	3	0.10~8.0	4~8(PWM)	false	true	4.8~5.2
G4	5	230400	9/8/4	0.28/0.26/0.1~16	5~12	false	false	4.8~5.2
X4	6	128000	5	0.12~10	5~12(PWM)	false	false	4.8~5.2
X2/X2L	6	115200	3	0.10~8.0	4~8(PWM)	false	true	4.8~5.2
G4PRO	7	230400	9/8/4	0.28/0.26/0.1~16	5~12	false	false	4.8~5.2
F4PRO	8	230400	4/6	0.12~12	5~12	false	false	4.8~5.2
R2	9	230400	5	0.12~16	5~12	false	false	4.8~5.2
G6	13	512000	18/16/8	0.28/0.26/0.1~25	5~12	false	false	4.8~5.2
G2A	14	230400	5	0.12~12	5~12	false	false	4.8~5.2
G2	15	230400	5	0.28~16	5~12	true(8)	false	4.8~5.2
G2C	16	115200	4	0.1~12	5~12	false	false	4.8~5.2
G4B	17	512000	10	0.12~16	5~12	true(10)	false	4.8~5.2
G4C	18	115200	4	0.1~12	5~12	false	false	4.8~5.2
G1	19	230400	9	0.28~16	5~12	false	false	4.8~5.2
TX8	100	115200	4	0.1~8	4~8(PWM)	false	true	4.8~5.2
TX20	100	115200	4	0.1~20	4~8(PWM)	false	true	4.8~5.2
TG15	100	512000	20/18/10	0.05~15	3~16	false	false	4.8~5.2
TG30	101	512000	20/18/10	0.05~30	3~16	false	false	4.8~5.2
TG50	102	512000	20/18/10	0.05~50	3~16	false	false	4.8~5.2

Note: PWM option speed control requires external PWM wave.

Configuration

path: ydlidar.yaml

ros2-interfaces

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

Parameter	Type	Description
port	String	port of lidar (ex. /dev/ttyUSB0)
baudrate	int	baudrate of lidar (ex. 230400)
frame_id	String	TF frame of sensor, default: laser_frame
singleChannel	bool	Whether LiDAR is a single-channel, default: false
resolution_fixed	bool	Fixed angluar resolution, default: true
auto_reconnect	bool	Automatically reconnect the LiDAR, default: true
reversion	bool	Reversion LiDAR, default: true
isToFLidar	bool	Whether LiDAR is TOF Type, default: false
angle_min	float	Minimum Valid Angle, defalut: -180.0
angle_max	float	Maximum Valid Angle, defalut: 180.0
range_min	float	Minimum Valid range, defalut: 0.01m
range_max	float	Maximum Valid range, defalut: 64.0m
ignore_array	String	LiDAR filtering angle area, default: ""
samp_rate	int	sampling rate of lidar, default: 9
frequency	float	scan frequency of lidar,default: 10.0

Parameters

port (string, default: /dev/ydlidar)

serial port name used in your system. 

baudrate (int, default: 230400)

serial port baud rate. 

LiDAR	baudrate
F4/S2/X2/X2L/S4/TX8/TX20/G4C	115200
X4	128000
S4B	153600
G1/G2/R2/G4/G4PRO/F4PRO	230400
G6/TG15/TG30/TG50	512000

frame_id (string, default: laser_frame)

frame ID for the device. 

singleChannel (bool, default: false)

indicated whether the LIDAR is single communication(S2) lidar.

LiDAR	singleChannel
G1/G2/G4/G6/F4/F4PRO/S4/S4B/X4/R2/G4C	false
S2/X2/X2L	true
TG15/TG30/TG50	false
TX8/TX20	true

resolution_fixed (bool, default: true)

indicated whether the LIDAR has a fixed angular resolution. 

auto_reconnect (bool, default: true)

indicated whether the LIDAR auto reconnection. 

reversion (bool, default: false)

indicated whether the LIDAR data rotation 180°. 

LiDAR	reversion
G1/G2/G4/G6/F4/F4PRO//R2/G4C/TG15/TG30/TG50	true
S2/X2/X2L/S4/S4B/X4/TX8/TX20	false

isToFLidar (bool, default: false)

indicated whether the LIDAR is TOF(TX8) lidar. 

LiDAR	isToFLidar
G1/G2/G4/G6/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L	false
TG15/TG30/TG50/TX8/TX20	true

angle_min (double, default: -180)

Min valid angle (°) for LIDAR data. 

angle_max (double, default: 180)

Max valid angle (°) for LIDAR data. 

range_min (double, default: 0.08)

Min valid range (m) for LIDAR data. 

range_max (double, default: 32.0)

Max valid range (m) for LIDAR data. 

ignore_array (string, default: "")

Set the current angle range value to zero.

Note: ignore 10 to 20 and 50 to 80, ex: "10, 20, 50, 80" 

samp_rate (int, default: 9)

the LIDAR sampling frequency.

LiDAR	samp_rate
G4/F4	4,8,9
F4PRO	4,6
G6	8,16,18
G1/G2/R2/X4	5
S4/S4B/G4C/TX8/TX20	4
S2	3
TG15/TG30/TG50	10,18,20

frequency (double, default: 10)

the LIDAR scanning frequency.

Note: Specific LiDAR paramter configuration, refer to Dataset

Upgrade Log

2020-02-08 version:1.4.5

1.Update SDK to 1.4.5

2.fixed ROS2 Dashing and Eloquent.

2019-12-23 version:1.4.4

1.support all standards lidar

2018-07-16 version:1.3.6

1.Update SDK verison to 1.3.9

2.remove imu sync.

2018-07-16 version:1.3.5

1.Update SDK verison to 1.3.6

2.add imu sync.

2018-04-16 version:1.3.1

1.Update SDK verison to 1.3.1

2.Increase sampling frequency,scan frequency setting.

3.Unified coordinate system.

4.Repair X4,S4 LIDAR cannot be opened.

5.Increased G4 G4C F4Pro LIDAR power-off protection.

6.Increased S4B LIDAR low optical power setting.

7.Fix the wait time for closing ros node.

8.Compensate for each laser point timestamp.

9.Unified profile, automatic correction lidar model.

6 Support

You can get support from YDLidar with the following methods:

• Send email to [e-mail] with a clear description of your problem and your setup
• Github Issues

Contact EAI

If you have any extra questions, please feel free to contact us