bluesea

ROS driver for Lanhai USB 2D LiDAR

How to build Lanhai ros driver

1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build 

How to run Lanhai ros node (Serial Port Version)

1. Copy UDEV rule file : sudo cp src/LHLiDAR.rules /etc/udev/rules.d/
2. or Run : sudo chmod 666 /dev/ttyUSB0 # make usb serial port readable

if your lidar model is LDS-50C-2 :

• rosrun bluesea bluesea_node _frame_id:=map _port:=/dev/ttyUSB0 _baud_rate:=500000 _firmware_version:=2 _output_scan:=1 _output_cloud:=0 _mirror:=1 _from_zero:=1 _with_resample:=true _resample_res:=0.5 _unit_is_mm:=1 _with_confidence:=1
• or use roslaunch src/bluesea/launch/LDS-50C-2.launch

if your lidar model is LDS-25C or LDS-50C:

• rosrun bluesea bluesea_node _frame_id:=map _port:=/dev/ttyUSB0 _baud_rate:=230400 _firmware_version:=2 _output_scan:=1 _output_cloud:=1 _mirror:=1 _from_zero:=1 _angle_patch:=1 _unit_is_mm:=0 _with_confidence:=1
• or use roslaunch src/bluesea/launch/LDS-25C.launch

3. optional : rostopic hz /scan
4. optional : rosrun rviz rviz #

How to start/stop LiDAR detection

1. resume detection : rosservice call /your_node/start_motor
2. stop detection : rosservice call /your_node/stop_motor

How to run Lanhai ros node (UDP Network Version)

1. sudo ifconfig eth0:1 192.168.158.200 # add sub net
2. rosrun bluesea bluesea_node _frame_id:=map _type:=udp _dev_ip:=192.168.158.91 _firmware_version:=2
3. optional : rostopic hz /scan
4. optional : rosrun rviz rviz #

Parameters

• std::string type; // LiDAR comm type, could be "uart" or "udp"
• std::string dump; // file path of dump raw data, for debug

// for serial port comm

• std::string port; // serial port device path
• int baud_rate; // baud rate, -1 : auto detect current baud rate

// for network comm

• std::string dev_ip; // network
• int udp_port, tcp_port;

// for intput data format

• int unit_is_mm; // 0 : unit of raw data distance is CM, 1: MM
• int with_confidence; // 1: raw data with intensity, 0: no intensity
• int with_checksum; // 1 : enable packet checksum

// output data type

• int output_scan; // 1: enable output angle+distance mode, 0: disable
• int output_cloud; // 1: enable output xyz format data, 0 : disable
• int output_360; // 1: collect multiple RawData packets (360 degree), then publish // 0: publish every RawData (36 degree)
• std::string frame_id; // frame information, could be used for rviz

// angle composate

• bool with_resample; // resample angle resolution
• double resample_res; // 0.5: resample angle resolution @ 0.5 degree

// output data format

• int mirror; // 0: clockwise, 1: counterclockwise
• int from_zero; // 1: angle range 0 - 360, 0: angle range -180 - +180
• int normal_size; // abnormal packet (points number < normal_size) will be droped

// angle filter

• int with_angle_filter ; // 1: enable angle filter, 0: diable
• double min_angle; // angle filter's low threshold, default value: -pi
• double max_angle; // angle filters' up threashold, default value: pi

Dynamic Reconfigure Parameters

int rpm; // motor's scaning RPM [300, 1500]

command line like this: rosrun dynamic_reconfigure dynparam set /lidar1/lidar01 "{'rpm':700}"