ydlidar_x4_pro_ros

This is YDLidar X4 Pro package for ROS2

Prerequisites

This package depends on ydlidar_ros2_driver so if you don't have it or out of date, do it first.

How to build package

1.Create your workspace with a src sub-directory.

2.Inside a src ,clone this git with git clone https://github.com/Dr2546/ydlidar_x4_pro_ros.git and paste lidar and lidar_interfaces under src.

3.In the root of your workspace,run rosdep install -i --from-path src --rosdistro foxy -y to check dependencies.

Note:Ros distro may vary depends on you,this project use Ros2 foxy.

4.Run colcon build or colcon build --packages-select lidar lidar_interfaces if your workspace has many packages and you only want to build this package.

5.In your root workspace , go inside install/lidar/lib. If there is no lidar directory, create it,then copy lidar.py lidarcli.py from install/lidar/bin and paste under lidar.

6.In your root workspace , go inside install/lidar/share/lidar. If there is no launch directory, create it,then copy lidar_launch.py from src/lidar/launch and paste under launch.

How to use/run package

1.Open up your workspace in 2 terminal.

2.Run . install/setup.bash in both terminals.

3.First terminal run ros2 launch lidar lidar_launch.py.

4.Second terminal ,when you want to get lidar informations, run ros2 run lidar lidarcli getpos.

About lidar_interfaces

lidar_interfaces has 2 msg and 1 srv.

msg: PolarCoordinate (float32 deg,float32 range)

msg: Position (PolarCoordinate[] ranges)

srv: GetPos (string req --- Position ranges)