README.md · nvilidar/vp100_ros

# VP100/T10 LIDAR 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 ~/lidar_ros_ws/src
        $cd ~/lidar_ros_ws/src
    2)  $cd..
    3)  $catkin_make
    4)  $source devel/setup.bash
    5)  echo $ROS_PACKAGE_PATH
        /home/xiaoxiangyu/project/ros1_new/src:/opt/ros/noetic/share

## How to build Lidar ROS Package
### 1.Get the ros code
    1) Clone this project to your catkin's workspace src folder
    	$ git clone https://gitee.com/nvilidar/vp100_ros.git       
		or
		$ git clone https://github.com/nvilidar/vp100_ros.git

2) download the sdk code from our webset,  http://www.nvistar.com/?jishuzhichi/xiazaizhongxin
### 2.Copy the ros code
    1) Copy the ros source file to the "~/lidar_ros_ws/src"
    2) Running "catkin_make" to build lidar_node and lidar_client
### 3.Serialport configuration
if you use the lidar device name,you must give the permissions to user.
```shell
whoami
```
get the user name.link ubuntu.
```shell
sudo usermod -a -G dialout ubuntu
```
ubuntu is the user name.
```shell
sudo reboot   
```

## ROS Parameter Configuration
### 1. Lidar Support
    the baudrate can be 115200bsp or 230400bps

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

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

rosrun lidar_ros lidar_client

nvilidar/vp100_ros

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