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Users should see something like this: /home/tony/ydlidar_ws/src:/opt/ros/melodic/share.
5)
Create Serial Port Alias [Optional]
Note: After completing the previous operation, re-insert the LiDAR again.
2.4
Run ydlidar_ros_driver
Run ydlidar_ros_driver with startup file, as shown below:
2.5
RVIZ Viewing Scan Results
Run the launch file and open rviz to view the TEA scan results, as shown in the following
figure:
Note: Take G4 as an example by default. If you use other lidars, change the lidar.launch file in lidar_view.launch
file to the corresponding **.launch. (If using TEA lidar, change to TEA.launch)
FIG 16
YDLIDAR TEA RVIZ
$ chmod 0777 src/ydlidar_ros_driver/startup/*
$ sudo sh src/ydlidar_ros_driver/startup/initenv.sh
$ roslaunch ydlidar_ros_driver TEA.launch
$ roslaunch ydlidar_ros_driver lidar_view.launch
