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操作指南

此SDK仅适用于深圳乐动机器人有限公司销售的激光雷达产品，产品型号为LDROBOT LiDAR LD06. 应用环境为ROS.

0.获取源码

cd ~
git clone https://github.com/ldrobotSensorTeam/sdk_ld06_raspberry_ros.git

1. 设置

• 将雷达连接到你的系统主板，设置雷达在系统中挂载的串口设备-x权限(以/dev/ttyS0为例)
  • 实际使用时，根据雷达在你的系统中的实际挂载情况来设置，可以使用ls -l /dev命令查看.

sudo chmod 777 /dev/ttyS0

• 修改~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch文件中的port_name值，以/dev/ttyS0为例，如下所示.

<launch>
<node name="LD06" pkg="ldlidar" type="ldlidar" output="screen" >
<param name="topic_name" value="LiDAR/LD06"/>
<param name="port_name" value ="/dev/ttyS0"/>
<param name="frame_id" value="lidar_frame"/>
</node>
</launch>

2. 编译与运行

• 编译

cd ~/sdk_ld06_raspberry_ros/
catkin_make

• 运行

source devel/setup.bash
roslaunch ldlidar ld06.launch

3. 数据可视化

• 在确保编译与运行成功后，请另外打开一个终端，运行rosrun rviz rviz打开ROS的RVIZ工具

• 在RVIZ工具中打开~/sdk_ld06_raspberry_ros/rviz/ldlidar.rviz即可显示雷达数据，或者利用~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch中的topic_name与frame_id的值在RVIZ工具中自行配置

• 如果使用Ubuntu16.04 kinetic 版本以上的ROS,建议自行配置rviz文件

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Instructions

This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co., LTD. The product models are LDROBOT LiDAR LD06. The application environment is ROS.

step 0: Access to the source code

cd ~
git clone https://github.com/ldrobotSensorTeam/sdk_ld06_raspberry_ros.git

step 1: setup

• Set the permission of serial port device mounted by LiDAR in the system(example:device name is /dev/ttyS0)
  • The actual use of the radar is based on the actual mounted on your system, you can use the ls -l /dev command to view.

sudo chmod 777 /dev/ttyS0

• Modify port_name value in the ~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch files,

for example /dev/ttyS0.

<launch>
<node name="LD06" pkg="ldlidar" type="ldlidar" output="screen" >
<param name="topic_name" value="LiDAR/LD06"/>
<param name="port_name" value ="/dev/ttyS0"/>
<param name="frame_id" value="lidar_frame"/>
</node>
</launch>

step 2: build and run

• build

cd ~/sdk_ld06_raspberry_ros/
catkin_make

• run

source devel/setup.bash
roslaunch ldlidar ld06.launch

step 3: Data visualization

• After making sure that the compilation and operation are successful, please open another terminal and run rosrun rviz rviz to open the ROS rviz tool.

• Open ~/sdk_ld06_raspberry_ros/rviz/ldlidar.rviz in the RVIZ tool to display radar data.

  Or using ~/sdk_ld06_raspberry_ros/src/ldlidar/launch/ld06.launch , The launch file of topic_name and frame_id values in RVIZ tool to configure.

• It is recommended that you configure your own rviz file if you use Ubuntu16.04 kinetic or higher