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Users should see something like this: /home/tony/ydlidar_ws/src:/opt/ros/melodic/share.

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

Содержание YDLIDAR TEA

Страница 1: ...Shenzhen EAI Technology Co Ltd DOC 01 13 005502 www ydlidar com YDLIDARTEA USERMANUALALPHA...

Страница 2: ...t 2 Start Scanning 4 Data Storage 5 Playback and Recording display Mean and Standard Deviation 6 Wave Filtering 6 Network Configuration 7 2 LINUX ROS OPERATION 7 2 1 Device Connect 8 2 2 Compile and I...

Страница 3: ...le to the network port on the PC set the device and PC to be on the same network segment The DC port is connected to the power socket through the 12V 1A power adapter 1 2 Network setting TEA Initial n...

Страница 4: ...es EaiLidarTest a point cloud data visualization software for TEA real time scanning Users can use this software to visually observe the TEA scanning map YDLIDAR provides TEA real time point cloud dat...

Страница 5: ...IG 5 YDLIDAR TEA PARAMETER CONFIGURATION Lidar parameters configuration double click on red box area and refer to the following figure for TEA parameters FIG 6 YDLIDAR TEA PARAMETERS CONFIGURATION Aft...

Страница 6: ...to start scanning and display the environment point cloud The angle and distance information of the red line position will be displayed in the upper left corner unit mm Click Stop button to stop it as...

Страница 7: ...values of a total of 100 points on the left and right sides of the mouse lock position FIG 10 SHOWS THE LIGHT INTENSITY HISTOGRAM Data Storage During lidar scanning click in the Bottom right corner o...

Страница 8: ...nu FIG 12 RECORD AND PLAY The main window is displayed as follows To record lidar data click to start recording and click to stop recording In non scanning mode click to start play The play process is...

Страница 9: ...d UDP port After changing any of these configurations you need to click the Confirm button to save the settings After the device restarts the settings will take effect FIG 15 NETWORK CONFIGURATION 2 L...

Страница 10: ...r Installation 1 Cloning GitHub s ydlidar_ros_driver package 2 Build the Ydlidar_ros_driver software package 3 Package environment Settings Note add a permanent workspace environment variable It will...

Страница 11: ...w 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...

Страница 12: ...ctory where the corresponding launch file is located and edit the file as shown in the figure FIG 17 TEA LAUNCH FILE Note For more information about the file contents please refer to https github com...