diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3d544d6..d01fd7d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -195,6 +195,11 @@ target_link_libraries(${PROJECT_NAME}_listen_node ${catkin_LIBRARIES})
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
+install(PROGRAMS
+ scripts/create_udev_rules.sh
+ scripts/delete_udev_rules.sh
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
@@ -202,6 +207,11 @@ target_link_libraries(${PROJECT_NAME}_listen_node ${catkin_LIBRARIES})
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
+install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}_listen_node
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
@@ -216,6 +226,9 @@ target_link_libraries(${PROJECT_NAME}_listen_node ${catkin_LIBRARIES})
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
+install(DIRECTORY launch rules rviz
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
#############
## Testing ##
diff --git a/README.md b/README.md
index 8ab8fda..97154a9 100644
--- a/README.md
+++ b/README.md
@@ -31,13 +31,19 @@ sudo chmod 777 /dev/ttyUSB0
- 第三步，修改`launch/`目录下雷达产品型号对应的lanuch文件中的`port_name`值，以ld06.launch为例，如下所示.
```xml
+
+
+
+
+
+
-
-
-
+
+
+
@@ -53,12 +59,12 @@ sudo chmod 777 /dev/ttyUSB0
-
+
-
+
```
## 2. 编译方法
@@ -129,13 +135,6 @@ catkin_make
```bash
rviz
```
-
-| 产品型号: | Fixed Frame: | Topic: |
-| ------------------ | ------------ | ------------- |
-| LDROBOT LiDAR LD06 | base_laser | /scan |
-| LDROBOT LiDAR LD19 | base_laser | /scan |
-
-
# Instructions
> This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co., LTD. The product models are :
@@ -168,13 +167,19 @@ sudo chmod 777 /dev/ttyUSB0
- Modify the `port_name` value in the Lanuch file corresponding to the radar product model under `launch/`, using `ld06.launch` as an example, as shown below.
``` xml
+
+
+
+
+
+
-
-
-
+
+
+
@@ -190,12 +195,12 @@ sudo chmod 777 /dev/ttyUSB0
-
+
-
+
```
## step 2: build
@@ -266,9 +271,4 @@ catkin_make
- new a terminal (Ctrl + Alt + T) and use Rviz tool,open the rviz config file below the rviz folder of the readme file directory
```bash
rviz
-```
-
-| Product: | Fixed Frame: | Topic: |
-| ------------------ | ------------ | ------------- |
-| LDROBOT LiDAR LD06 | base_laser | /scan |
-| LDROBOT LiDAR LD19 | base_laser | /scan |
\ No newline at end of file
+```
\ No newline at end of file
diff --git a/launch/ld06.launch b/launch/ld06.launch
index d097b0b..7821b05 100644
--- a/launch/ld06.launch
+++ b/launch/ld06.launch
@@ -1,10 +1,16 @@
+
+
+
+
+
+
-
-
-
+
+
+
@@ -25,5 +31,5 @@
-
+
\ No newline at end of file
diff --git a/launch/ld19.launch b/launch/ld19.launch
index 9ca5b0d..133d7c7 100644
--- a/launch/ld19.launch
+++ b/launch/ld19.launch
@@ -1,10 +1,16 @@
+
+
+
+
+
+
-
-
-
+
+
+
@@ -25,5 +31,5 @@
-
+
\ No newline at end of file
diff --git a/ldlidar_driver/lipkg.cpp b/ldlidar_driver/lipkg.cpp
index 9a20a22..392ba01 100644
--- a/ldlidar_driver/lipkg.cpp
+++ b/ldlidar_driver/lipkg.cpp
@@ -57,7 +57,7 @@ uint8_t CalCRC8(const uint8_t *data, uint16_t data_len) {
}
LiPkg::LiPkg()
- : sdk_pack_version_("v2.3.4"),
+ : sdk_pack_version_("v2.3.5"),
timestamp_(0),
speed_(0),
error_times_(0),
diff --git a/package.xml b/package.xml
index b61676b..77ab8d2 100644
--- a/package.xml
+++ b/package.xml
@@ -1,19 +1,19 @@
ldlidar_stl_ros
- 0.0.0
+ 2.3.5
The ldlidar package
- marketing1
+ SHENZHEN LDROBOT CO., LTD.
- TODO
+ MIT
@@ -48,25 +48,37 @@
+
catkin
+
- roscpp
- sensor_msgs
+
+
+
+
- roscpp
- sensor_msgs
+
+
+
+
- roscpp
- sensor_msgs
+
+
+
+
+ roscpp
+ sensor_msgs
+ tf
+
-
+
-
+
diff --git a/scripts/ldlidar.rules b/rules/ldlidar.rules
similarity index 100%
rename from scripts/ldlidar.rules
rename to rules/ldlidar.rules
diff --git a/scripts/create_udev_rules.sh b/scripts/create_udev_rules.sh
index d9c4f5a..740fc90 100644
--- a/scripts/create_udev_rules.sh
+++ b/scripts/create_udev_rules.sh
@@ -3,7 +3,7 @@
echo "remap the device serial port(ttyUSBX) to ldlidar"
echo "ldlidar usb connection as /dev/ldlidar , check it using the command : ls -l /dev|grep ttyUSB"
echo "start copy ldlidar.rules to /etc/udev/rules.d/"
-sudo cp ./ldlidar.rules /etc/udev/rules.d
+sudo cp `rospack find ldlidar_stl_ros`/rules/ldlidar.rules /etc/udev/rules.d/
echo " "
echo "Restarting udev"
echo ""
diff --git a/scripts/delete_udev_rules.sh b/scripts/delete_udev_rules.sh
index e296148..7e6f1a2 100644
--- a/scripts/delete_udev_rules.sh
+++ b/scripts/delete_udev_rules.sh
@@ -2,7 +2,7 @@
echo "delete remap the device serial port(ttyUSBX) to ldlidar"
echo "sudo rm /etc/udev/rules.d/ldlidar.rules"
-sudo rm /etc/udev/rules.d/ldlidar.rules
+sudo rm /etc/udev/rules.d/ldlidar.rules
echo " "
echo "Restarting udev"
echo ""
diff --git a/src/publish_node/main.cpp b/src/publish_node/main.cpp
index 5da05c7..1539765 100644
--- a/src/publish_node/main.cpp
+++ b/src/publish_node/main.cpp
@@ -21,7 +21,8 @@
#include "ros_api.h"
#include "lipkg.h"
-void ToLaserscanMessagePublish(ldlidar::Points2D& src, ldlidar::LiPkg* commpkg, LaserScanSetting& setting, ros::Publisher& lidarpub);
+void ToLaserscanMessagePublish(ldlidar::Points2D& src, ldlidar::LiPkg* commpkg,
+ LaserScanSetting& setting, ros::Publisher& lidarpub);
int main(int argc, char **argv) {
ros::init(argc, argv, "ldldiar_publisher");
@@ -104,27 +105,33 @@ int main(int argc, char **argv) {
return 0;
}
-void ToLaserscanMessagePublish(ldlidar::Points2D& src, ldlidar::LiPkg* commpkg, LaserScanSetting& setting, ros::Publisher& lidarpub) {
+void ToLaserscanMessagePublish(ldlidar::Points2D& src, ldlidar::LiPkg* commpkg,
+ LaserScanSetting& setting, ros::Publisher& lidarpub) {
float angle_min, angle_max, range_min, range_max, angle_increment;
float scan_time;
ros::Time start_scan_time;
static ros::Time end_scan_time;
+ static bool first_scan = true;
start_scan_time = ros::Time::now();
scan_time = (start_scan_time - end_scan_time).toSec();
+ if (first_scan) {
+ first_scan = false;
+ end_scan_time = start_scan_time;
+ return;
+ }
+
// Adjust the parameters according to the demand
- angle_min = ANGLE_TO_RADIAN(src.front().angle);
- angle_max = ANGLE_TO_RADIAN(src.back().angle);
+ angle_min = 0;
+ angle_max = (2 * M_PI);
range_min = 0.02;
range_max = 12;
- float spin_speed = static_cast(commpkg->GetSpeedOrigin());
- float scan_freq = static_cast(commpkg->kPointFrequence);
- angle_increment = ANGLE_TO_RADIAN(spin_speed/scan_freq);
+ int beam_size = static_cast(src.size());
+ angle_increment = (angle_max - angle_min) / (float)(beam_size -1);
// Calculate the number of scanning points
if (commpkg->GetSpeedOrigin() > 0) {
- int beam_size = static_cast(ceil((angle_max - angle_min) / angle_increment));
sensor_msgs::LaserScan output;
output.header.stamp = start_scan_time;
output.header.frame_id = setting.frame_id;
@@ -161,10 +168,11 @@ void ToLaserscanMessagePublish(ldlidar::Points2D& src, ldlidar::LiPkg* commpkg,
}
float angle = ANGLE_TO_RADIAN(dir_angle); // Lidar angle unit form degree transform to radian
- int index = (int)((angle - output.angle_min) / output.angle_increment);
+ int index = static_cast(ceil((angle - angle_min) / angle_increment));
if (index < beam_size) {
if (index < 0) {
- ROS_ERROR("[ldrobot] error index: %d, beam_size: %d, angle: %f, output.angle_min: %f, output.angle_increment: %f", index, beam_size, angle, output.angle_min, output.angle_increment);
+ ROS_ERROR("[ldrobot] error index: %d, beam_size: %d, angle: %f, angle_min: %f, angle_increment: %f",
+ index, beam_size, angle, angle_min, angle_increment);
}
if (setting.laser_scan_dir) {