nvilidar_ros: ROS for NVILIDAR and documents

# NVILIDAR ROS DRIVER

## How to [install ROS](http://wiki.ros.org/cn/ROS/Installation)

[ubuntu](http://wiki.ros.org/cn/Installation/Ubuntu)

[windows](http://wiki.ros.org/Installation/Windows)

## How to Create a ROS workspace

[Create a workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)

you also can with this:

1)  $mkdir -p ~/nvilidar_ros_ws/src
        $cd ~/nvilidar_ros_ws/src
    2)  $cd..
    3)  $catkin_make
    4)  $source devel/setup.bash
    5)  echo $ROS_PACKAGE_PATH
        /home/user/nvilidar_ws/src:/opt/ros/kinetic/share

## How to build NVILiDAR ROS Package
### 1.Get the ros code
    1) Clone this project to your catkin's workspace src folder
    	(1). git clone https://github.com/nvilidar/nvilidar_ros.git  
             or
             git clone https://gitee.com/nvilidar/nvilidar_ros.git
    	(2). git chectout master

2) download the code from our webset,  http://www.nvistar.com/?jishuzhichi/xiazaizhongxin
    
### 2.Copy the ros code
    1) Copy the ros source file to the "~/nvilidar_ros_ws/src"
    2) Running "catkin_make" to build nvilidar_node and nvilidar_client
### 3.Serialport configuration
    1) if you want to use the unchanging device name,Create the name "/dev/nvilidar" to rename serialport
        --$ roscd nvilidar_ros/startup
        --$ sudo chmod 777 ./*
        --$ sudo sh initenv.sh
    2) if you use the lidar device name,you must give the permissions to user.
        ---whoami
       get the user name.link ubuntu.
        ---sudo usermod -a -G dialout ubuntu
       ubuntu is the user name.
        ---sudo reboot

## ROS Parameter Configuration
### 1. Lidar Support
    current ros support 2 types of Lidar,include ROC300 and VP350.ros can automatic lidar model recognition.

if you want to use serialport,

The ROC300 is a USB interface lidar, supporting various baud rates, bps is recommended.
    VP350 is a serial interface lidar, supporting only 512000bps.

### 2. Choice the ROS Communication interface

(1). if you want use the serialport,you neet to change the code from "nvilidar_node.cpp",change the code like this:

```cpp
//choice use serialport or socket 
#if 1
    nvilidar::LidarProcess laser(USE_SERIALPORT,cfg.serialport_name,cfg.serialport_baud);
#else 
    nvilidar::LidarProcess laser(USE_SOCKET,cfg.ip_addr, cfg.lidar_udp_port);
#endif 
```
the 2 parameters represent the serialport name and serialport baudrate.

(2). if you want to use the udp socket,you neet to change the code 
        from "nvilidar_node.cpp",change the code like this:

```cpp
//choice use serialport or socket 
#if 0
    nvilidar::LidarProcess laser(USE_SERIALPORT,cfg.serialport_name,cfg.serialport_baud);
#else 
    nvilidar::LidarProcess laser(USE_SOCKET,cfg.ip_addr, cfg.lidar_udp_port);
#endif 
```

the 2 parameters represent IP address and port number.

## How to Run NVILIDAR ROS Package
### 1. Run NVILIDAR node and view in the rviz
------------------------------------------------------------
	roslaunch nvilidar_ros lidar_view.launch

### 2. Run NVILIDAR node and view using test application
------------------------------------------------------------
	roslaunch nvilidar_ros lidar.launch

rosrun nvilidar_ros nvilidar_client

## NVILIDAR ROS Parameter
| value | information |
| :----: | :----: |
| serialport_baud | if use serialport,the lidar's serialport |
| serialport_name | if use serialport,the lidar's port name |
| ip_addr | if use udp socket,the lidar's ip addr,default:192.168.1.200 |
| lidar_udp_port | if use udp socket,the lidar's udp port,default:8100 |
| config_tcp_port | if use udp socket,config the net converter's para,default:8200 |
| frame_id | it is useful in ros,lidar ros frame id |
| resolution_fixed | Rotate one circle fixed number of points,it is 'true' in ros,default |
| auto_reconnect | lidar auto connect,if it is disconnet in case |
| reversion | lidar's point revert|
| inverted | lidar's point invert|
| angle_max | lidar angle max value,max:180.0°|
| angle_max | lidar angle min value,min:-180.0°|
| range_max | lidar's max measure distance,default:64.0 meters|
| range_min | lidar's min measure distance,default:0.0 meters|
| aim_speed | lidar's run speed,default:10.0 Hz|
| sampling_rate | lidar's sampling rate,default:10.0 K points in 1 second|
| sensitive | lidar's data with sensitive,default:false|
| tailing_level | lidar's tailing level,The smaller the value, the stronger the filtering,default:6|
| angle_offset_change_flag | angle offset enable to set,default:false|
| angle_offset | angle offset,default:0.0|
| adp_change_flag | change apd value,don't change it if nessesary,default:false|
| adp_value | change apd value,if the 'apd_change_flag' is true,it is valid,default:500|
| ignore_array_string | if you want to filter some point's you can change it,it is anti-clockwise for the lidar.eg. you can set the value "30,60,90,120",you can remove the 30° to 60° and 90° to 120° points in the view|
| filter_sliding_enable | smooth filter enable,default:true |
| filter_tail_enable | tailing filter function,default:true |
| filter_sliding_jump_threshold | smooth filter jump point thresholds,Not recommended to modify. The larger the value, the smoother it is, but too large a value may cause the corners to be less pronounced. |
| filter_sliding_max_range_flag | Smooth filtering takes effect within a specified distance threshold,Not recommended to modify. defalut:false,no distance limit |
| filter_sliding_max_range | If filter_sliding_max_range_flag=True within this distance then do the smoothing filtering algorithm, otherwise use the raw data,default:8000 |
| filter_sliding_window | Smooth filtering algorithm window, default:5 |
| filter_tail_distance_limit_flag | The trailing filter takes effect within the specified distance threshold, and modification is not recommended.defalut: false, no distance limitation|
| filter_tail_distance_limit_value | If filter_tail_distance_limit_flag=True within this distance then do the trailing filter algorithm, otherwise use the raw data |
| filter_tail_level | Tail dragging algorithm Rating, with 1 being the minimum and 30 being the maximum. The larger the value, the better the filtering effect, but too large will lead to too few valid points. Default:8 |
| filter_tail_neighbors | Number of neighboring points filtered by the trailing algorithm , i.e., trailing points are detected and the first N and last N data are filtered, Default:0 |

nvilidar/nvilidar_ros

简介

发行版

贡献者

近期动态

nvilidar/nvilidar_ros .gitee-modal { width: 500px !important; }

简介

发行版

贡献者

近期动态

搜索帮助

nvilidar/nvilidar_ros