cyglidar_d1(ROS2)

cyglidar_d1 is a ROS package, which is designed to visualize 2D/3D distance dataset in real-time. For more details in CygLiDAR, please visit http://www.cygbot.com

How to use this package

Preparation

mkdir -p ~/cyglidar_ws/src/
cd ~/cyglidar_ws/src/
git clone -b ROS2-v0.3.0 https://github.com/CygLiDAR-ROS/cyglidar_d1.git
cd ..
colcon build
source install/setup.bash

• When CMake Error Occured as below

pcl_conversionsConfig.cmake / pcl_conversions-config.cmake

sudo apt install ros-{ROS2 Ver Name}-pcl-conversions

Installation Udev

Install the udev rule

cd ~/cyglidar_ws/src/cyglidar_d1/scripts
chmod +x create_udev_rules.sh
./create_udev_rules.sh

Parameters in 'cyglidar.launch.py' File

In cyglidar.launch, the run mode number can be switched to 0, 1 and 2 for 2D, 3D and Dual(2D/3D)

And the others can be switched respectively as below:

Topic Image Updated

The measured distance datas in Rviz can be viewed as an 'Image Topic(MONO16)'. You can adjust the min/max value to specify a view based on distance.

Run CyglidarNode and View in the Rviz

ros2 launch cyglidar_d1_ros2 cyglidar.launch.py
ros2 launch cyglidar_d1_ros2 view_cyglidar.launch.py  (Run with Rviz)

#1 When CyglidarNode Error Occured

[Error] : An exception was thrown [open : Permission denied] Please check 'Installation Udev' Or use following command.

sudo chmod 777 /dev/ttyUSB0

Note

In Rviz, the fixed frame and the topics for Point Cloud are as follows:

Frame ID

/laser_frame

Fixed Frame

/map

Cyglidar Topic List

/scan       (LaserScan)
/scan_2D    (PointCloud XYZRGBA)
/scan_3D    (PointCloud XYZRGBA)
/scan_image (Image)