LD06 LiDar ROS2

ROS 2 official website：https://docs.ros.org/

ROS 2 Feature pack：https://github.com/ldrobotSensorTeam/ldlidar_stl_ros

ROS 2 Feature pack：https://gitee.com/ldrobotSensorTeam/ldlidar_stl_ros

Device : PC；LD 06（LD 19）

Environment : Ubuntu18.04；ROS2（eloquent）

New Workspace

mkdir -p my_ws/src

When the radar is used, it is necessary to enter the workspace each time the command is executed

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cd ~/my_ws

Decompress the [ldlidar_ros2. zip] function package and put it in the src folder of your workspace. Open the terminal in the workspace

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colcon build               # compile
source install/setup.bash  # Update the environment

Note: Every time a new terminal is opened, it needs to [update the environment]. Every time the code in the function pack is changed, it needs to [re-compile] and then update the environment.

1、Remap the USB serial port

To perform this step, run the installation USB port remapping command in the scripts folder of the ldlidar_stl_ros2 function package

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cd ~/my_ws/src/ldlidar_stl_ros2/scripts
sudo chmod 777 *
./create_udev_rules.sh

Use the following command to view the modified remapping

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ls -l /dev | grep ttyUSB

2、rviz2 Visual test

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ros2 launch ldlidar_stl_ros2 ld06.launch.py

You should see the radar scan results in rviz2

Note: the [Fixed Frame] coordinate system and [LaserScan] topics should be consistent with those published.

3、gmapping Build diagram test

A key to start

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ros2 launch ldlidar_stl_ros2 ld06_gmapping.launch.py

You should see the result in rviz2

Note: [Fixed Frame] coordinate system, [LaserScan] topic, [map] topic should be the same as published.