GL-3 (Mechanical scanning 2D LiDAR)

Guide

• Installation

$ cd ${ROS workspace}/src
$ git clone https://github.com/soslab-project/gl_ros_driver.git
$ cd $(ROS workspace)
$ catkin_make -DCMAKE_BUILD_TYPE=Release

• Set permission of USB port

$ sudo chmod a+rw /dev/ttyUSB0

• Set permission of USB port permanently

$ sudo usermod -a -G dialout $USER

and reboot.

• Run GL-3 publisher node

$ roslaunch gl_ros_driver gl_ros_driver.launch

• Run GL-3 publisher node with RViz

$ roslaunch gl_ros_driver view_gl_ros_driver.launch

• Change serial port or frame_id in gl_ros_driver/launch/gl_ros_driver.launch

Published Topics

• scan (sensor_msgs/LaserScan): it publishes scan topic from the laser.

Test environment

• ROS Melodic Morenia, ROS Kinetic Kame
• Ubuntu 16.04, Ubuntu 18.04
• x86_64 (PC), aarch64 (Jetson series)

Application demo

• [GL-3, Demo] 2D LiDAR, Mapping (https://youtu.be/AfsqlU_f-Go)
• [GL-3, Demo] Create 3D Point Cloud with 2D LiDAR (https://youtu.be/_HBWe95GqXM)
• [GL-3, Demo] Create 3D Point Cloud with 2D LiDAR (pulse-width version) (https://youtu.be/q4MeeS9eP4c)
• [GL-3, Demo] Human Tracking Demo of Multiple Mobile Robots (https://youtu.be/ZzEvm8gMPaA)
• [GL-3, Demo] 2D LiDAR Object Detection (https://youtu.be/V29QzU9AcQo)