2D LiDAR

	Range Frequency 5000Hz		Scan Frequency 6-12Hz
	Range Distance 0.12-10m		Scan Angle 360°
	Angle Resolution 0.43-0.85°		Size 110.671.152.3mm

SDK

https://github.com/YDLIDAR/YDLidar-SDK/tree/master You can install these packages using apt:

sudo apt install cmake pkg-config

In the YDLidar SDK directory, run the following commands to compile the project:

git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK
mkdir build
cd build
cmake ..
make
sudo make install

ROS2 Driver

https://github.com/YDLIDAR/ydlidar_ros2_driver

1. Clone ydlidar_ros2_driver master branch from github for old version:

   git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git ydlidar_ros2_ws/src/ydlidar_ros2_driver

   Clone ydlidar_ros2_driver humble branch from github for humble,jazzy,etc:

   git clone -b humble 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

   

   Note: If the following error occurs, Please install YDLIDAR/YDLidar-SDK first.

   

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 Default parameter file

ydlidar_ros2_driver_node:
  ros__parameters:
    port: /dev/ttyUSB0
    frame_id: laser_frame
    ignore_array: ""
    baudrate: 230400
    lidar_type: 1
    device_type: 0
    isSingleChannel: false
    intensity: false
    intensity_bit: 0
    sample_rate: 9
    abnormal_check_count: 4
    fixed_resolution: true
    reversion: false
    inverted: false
    auto_reconnect: true
    support_motor_dtr: false
    angle_max: 180.0
    angle_min: -180.0
    range_max: 64.0
    range_min: 0.01
    frequency: 10.0
    invalid_range_is_inf: false
    debug: false

Note: It needs to be modified according to LiDAR actual situation.

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