featue(*):add ydlidar_ros2_driver package

jeguzzi · Jun 17, 2020 · e92ffde · e92ffde
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,88 @@
+# Copyright(c) 2020 eaibot limited.
+cmake_minimum_required(VERSION 3.5)
+project(ydlidar_ros2_driver C CXX)
+
+##################ros2#############################################
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+####################find package#####################################
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rmw REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+
+############## YDLIDAR SDK START#####################################
+#find ydlidar_sdk package
+find_package(ydlidar_sdk REQUIRED)
+############## YDLIDAR SDK END#####################################
+
+#Include directories
+include_directories(
+  ${PROJECT_SOURCE_DIR}
+  ${PROJECT_SOURCE_DIR}/src
+  ${YDLIDAR_SDK_INCLUDE_DIRS})
+
+#link library directories
+link_directories(${YDLIDAR_SDK_LIBRARY_DIRS})
+
+#---------------------------------------------------------------------------------------
+# generate excutable and add libraries
+#---------------------------------------------------------------------------------------
+add_executable(${PROJECT_NAME}_node
+    src/${PROJECT_NAME}_node.cpp)
+#---------------------------------------------------------------------------------------
+# link libraries
+#--------------------------------------------------------------------------------------
+ament_target_dependencies(${PROJECT_NAME}_node
+    "rclcpp"
+    "sensor_msgs"
+    "visualization_msgs"
+    "geometry_msgs"
+    "std_srvs"
+    )
+
+target_link_libraries(${PROJECT_NAME}_node
+    ${YDLIDAR_SDK_LIBRARIES})
+
+#---------------------------------------------------------------------------------------
+# generate excutable and add libraries
+#---------------------------------------------------------------------------------------
+add_executable(${PROJECT_NAME}_client
+    src/${PROJECT_NAME}_client.cpp)
+#---------------------------------------------------------------------------------------
+# link libraries
+#--------------------------------------------------------------------------------------
+ament_target_dependencies(${PROJECT_NAME}_client
+    "rclcpp"
+    "sensor_msgs"
+    "visualization_msgs"
+    "geometry_msgs"
+    "std_srvs"
+    )
+
+#---------------------------------------------------------------------------------------
+# Install
+#---------------------------------------------------------------------------------------
+install(TARGETS
+    ${PROJECT_NAME}_node ${PROJECT_NAME}_client
+    DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch params startup config
+    DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+
diff --git a/LICENSE.txt b/LICENSE.txt
diff --git a/README.md b/README.md
@@ -0,0 +1,187 @@
+![YDLIDAR](images/YDLidar.jpg  "YDLIDAR")
+# YDLIDAR ROS2 Driver
+
+ydlidar_ros2_driver is a new ros package, which is designed to gradually become the standard driver package for ydlidar devices in the ros2 environment.
+
+## How to [install ROS2](https://index.ros.org/doc/ros2/Installation)
+[ubuntu](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/)
+
+[windows](https://index.ros.org/doc/ros2/Installation/Dashing/Windows-Install-Binary/)
+
+## How to Create a ROS2 workspace
+[Create a workspace](https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/#create-a-workspace)
+
+
+## Compile & Install YDLidar SDK
+
+ydlidar_ros2_driver depends on YDLidar-SDK library. If you have never installed YDLidar-SDK library or it is out of date, you must first install YDLidar-SDK library. If you have installed the latest version of YDLidar-SDK, skip this step and go to the next step.
+
+1. Download or clone the [YDLIDAR/YDLidar-SDK](https://github.com/YDLIDAR/YDLidar-SDK) repository on GitHub.
+2. Compile and install the YDLidar-SDK under the ***build*** directory following `README.md` of YDLIDAR/YDLidar-SDK.
+
+## Clone ydlidar_ros2_driver
+
+1. Clone ydlidar_ros2_driver package for github : 
+
+   `git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver`
+
+2. Build ydlidar_ros2_driver package :
+
+   ```
+   cd ydlidar_ros2_ws
+   colcon build --symlink-install
+   ```
+   Note: install colcon [see](https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/#install-colcon)
+
+   ![CMAKE Finished](images/finished.png  "CMAKE Finished")
+
+   <font color=Red size=4>>Note: If the following error occurs, Please install  [YDLIDAR/YDLidar-SDK](https://github.com/YDLIDAR/YDLidar-SDK) first.</font>
+
+   ![CMAKE ERROR](images/cmake_error.png  "CMAKE ERROR")
+
+3. Package environment setup :
+
+   `source ./install/setup.bash`
+
+    Note: Add permanent workspace environment variables.
+    It's convenientif the ROS2 environment variables are automatically added to your bash session every time a new shell is launched:
+    ```
+    $echo "source ~/ydlidar_ros2_ws/install/setup.bash" >> ~/.bashrc
+    $source ~/.bashrc
+    ```
+4. Confirmation
+    To confirm that your package path has been set, printenv the `grep -i ROS` variable.
+    ```
+    $ printenv | grep -i ROS
+    ```
+    You should see something similar to:
+        `OLDPWD=/home/tony/ydlidar_ros2_ws/install`
+
+5. Create serial port Alias [optional] 
+    ```
+	$chmod 0777 src/ydlidar_ros2_driver/startup/*
+	$sudo sh src/ydlidar_ros2_driver/startup/initenv.sh
+    ```
+    Note: After completing the previous operation, replug the LiDAR again.
+	
+## Configure LiDAR [paramters](params/ydlidar.yaml)
+```
+ydlidar_ros2_driver_node:
+  ros__parameters:
+    port: /dev/ttyUSB0
+    frame_id: laser_frame
+    ignore_array: ""
+    baudrate: 230400
+    lidar_type: 1
+    device_type: 0
+    sample_rate: 9
+    abnormal_check_count: 4
+    resolution_fixed: true
+    reversion: true
+    inverted: true
+    auto_reconnect: true
+    isSingleChannel: false
+    intensity: false
+    support_motor_dtr: false
+    angle_max: 180.0
+    angle_min: -180.0
+    max_range: 64.0
+    min_range: 0.01
+    frequency: 10.0
+    invalid_range_is_inf: false
+```
+
+## Run ydlidar_ros2_driver
+
+##### Run ydlidar_ros2_driver using launch file
+
+The command format is : 
+
+ `ros2 launch ydlidar_ros2_driver [launch file].py`
+
+1. Connect LiDAR uint(s).
+   ```
+   ros2 launch ydlidar_ros2_driver ydlidar_launch.py 
+   ```
+   or 
+
+   ```
+   launch $(ros2 pkg prefix ydlidar_ros2_driver)/share/ydlidar_ros2_driver/launch/ydlidar.py 
+   ```
+2. RVIZ 
+   ```
+   ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py 
+   ```
+    ![View](images/view.png  "View")
+
+3. echo scan topic
+   ```
+   ros2 run ydlidar_ros2_driver ydlidar_ros2_driver_client or ros2 topic echo /scan
+   ```
+
+#####  Launch file introduction
+
+The driver offers users a wealth of options when using different launch file. The launch file directory    
+
+is `"ydlidar_ros2_ws/src/ydlidar_ros2_driver/launch"`. All launch files are listed as below : 
+
+| launch file               | features                                                     |
+| ------------------------- | ------------------------------------------------------------ |
+| ydlidar.py         | Connect to defualt paramters<br/>Publish LaserScan message on `scan` topic |
+| ydlidar_launch.py         | Connect ydlidar.yaml Lidar specified by configuration parameters<br/>Publish LaserScan message on `scan` topic |
+| ydlidar_launch_view.py         | Connect ydlidar.yaml Lidar specified by configuration parameters and setup RVIZ<br/>Publish LaserScan message on `scan` topic |
+
+
+
+## Publish Topic
+| Topic                | Type                    | Description                                      |
+|----------------------|-------------------------|--------------------------------------------------|
+| `scan`               | sensor_msgs/LaserScan   | 2D laser scan of the 0-angle ring                |
+
+## Subscribe Service
+| Service                | Type                    | Description                                      |
+|----------------------|-------------------------|--------------------------------------------------|
+| `stop_scan`          | std_srvs::Empty   | turn off lidar                                         |
+| `start_scan`         | std_srvs::Empty   | turn on lidar                                          |
+
+
+
+## Configure ydlidar_ros_driver internal parameter
+
+The ydlidar_ros2_driver internal parameters are in the launch file, they are listed as below :
+
+| Parameter name | Data Type | detail                                                       |
+| -------------- | ------- | ------------------------------------------------------------ |
+| port         | string | Set Lidar the serial port or IP address <br/>it can be set to `/dev/ttyUSB0`, `192.168.1.11`, etc. <br/>default: `/dev/ydlidar` |
+| frame_id     | string | Lidar TF coordinate system name. <br/>default: `laser_frame` |
+| ignore_array | string | LiDAR filtering angle area<br/>eg: `-90, -80, 30, 40` |
+| baudrate     | int | Lidar baudrate or network port. <br/>default: `230400` |
+| lidar_type     | int | Set lidar type <br/>0 -- TYPE_TOF<br/>1 -- TYPE_TRIANGLE<br/>2 -- TYPE_TOF_NET <br/>default: `1` |
+| device_type     | int | Set device type <br/>0 -- YDLIDAR_TYPE_SERIAL<br/>1 -- YDLIDAR_TYPE_TCP<br/>2 -- YDLIDAR_TYPE_UDP <br/>default: `0` |
+| sample_rate     | int | Set Lidar Sample Rate. <br/>default: `9` |
+| abnormal_check_count     | int | Set the number of abnormal startup data attempts. <br/>default: `4` |
+| fixed_resolution     | bool | Fixed angluar resolution. <br/>default: `true` |
+| reversion     | bool | Reversion LiDAR. <br/>default: `true` |
+| inverted     | bool | Inverted LiDAR.<br/>false -- ClockWise.<br/>true -- CounterClockWise  <br/>default: `true` |
+| auto_reconnect     | bool | Automatically reconnect the LiDAR.<br/>true -- hot plug. <br/>default: `true` |
+| isSingleChannel     | bool | Whether LiDAR is a single-channel.<br/>default: `false` |
+| intensity     | bool | Whether LiDAR has intensity.<br/>true -- G2 LiDAR.<br/>default: `false` |
+| support_motor_dtr     | bool | Whether the Lidar can be started and stopped by Serial DTR.<br/>default: `false` |
+| angle_min     | float | Minimum Valid Angle.<br/>default: `-180` |
+| angle_max     | float | Maximum Valid Angle.<br/>default: `180` |
+| range_min     | float | Minimum Valid range.<br/>default: `0.1` |
+| range_max     | float | Maximum Valid range.<br/>default: `16.0` |
+| frequency     | float | Set Scanning Frequency.<br/>default: `10.0` |
+| invalid_range_is_inf     | bool | Invalid Range is inf.<br/>true -- inf.<br/>false -- 0.0.<br/>default: `false` |
+More paramters details, see [here](details.md)
+
+## Contact EAI
+![Development Path](images/EAI.png)
+
+If you have any extra questions, please feel free to [contact us](http://www.ydlidar.cn/cn/contact)
+
+
+
+
+
+