alessiomorale/ld06_lidar

ROS1 package for LDRobotic LD06 Lidar

LD06 Lidar ROS driver

This is an attempt to fix and improve the driver provided by LDRobots in their website

Parameters

The ldlidar node supports the following parameters:

• serial_port used to override the autodetect and select a specific port
• lidar_frame used to override the defauld lidar_frame frame_id for the sensor_msgs/laserscan topic generated by this node.

An example launch file including all parameters is provided below:

<launch>
 <node name="LD06" pkg="ldlidar" type="ldlidar" args="LD06" output="screen" >
    <param name="serial_port" value="/dev/ttyUSB12"/>
    <param name="lidar_frame" value="my_new_lidar_frame"/>
 </node>
</launch>

Building the driver

# create a workspace folder (or use the existing workspace for your robot)
mkdir -p lidar_driver_ws/src
cd lidar_driver_ws/src
# clone the repo within a workspace
git clone https://github.com/AlessioMorale/ld06_lidar.git
cd ..
# install all prerequisites & build
rosdep install --from-paths src --ignore-src -y
catkin build

ROS Support

• Kinetic
• Melodic
• Noetic

ld06_lidar's Issues

No issue just pure thanks! [compliments to the dev!]

Thanks for making this driver setup. works with noetic as well the only thing we had missing was libudev.h dependencies

a simple sudo apt-get install libudev-dev fixed it.

We tried three separate drivers before this one worked for us. I appreciate your efforts the big one was the automated device detection and your launch files saved me a lot of headache.

LDROBOT Official warehouse LD06 ROS Driver

https://github.com/ldrobotSensorTeam/ldlidar_stl_ros

Optionally override the laserscan message frame using a parameter

Currently, the laserscan message frame is hardcoded to lidar_frame.
Add a parameter to override the frame.

unable to display lidar points

I must be missing something , but I cannot get anything to display using your modified version : rosrun rviz rviz ( then opening the ldlidar.rviz file

catkin command in Readme

Maybe better to write catkin_make instead of catkin build, because the latter command won't work.

Change rotational speed?

Hello,
I could not find any information on changing the rotational speed of the Lidar, as the document only mentions receiving the data. Do you have any resources on this, or maybe we can ask LDrobot then?
Many thanks :D

Dependency Dashboard

This issue lists Renovate updates and detected dependencies. Read the Dependency Dashboard docs to learn more.

Open

These updates have all been created already. Click a checkbox below to force a retry/rebase of any.

• chore(deps): update ros-tooling/action-ros-ci action to v0.3

Detected dependencies

github-actions

.github/workflows/main.yml

• ros-tooling/action-ros-ci v0.2
• ros-tooling/action-ros-ci v0.2
• ros-tooling/action-ros-ci v0.2

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• Check this box to trigger a request for Renovate to run again on this repository

Point cloud mirrored in RVIZ

Hello,

thanks to your work I was able to get lidar up and running. However when observing the point cloud, it is mirrored in RVIZ. Any ideas what's wrong?
I double checked with the Windows program LDROBOT provides and there the point cloud matches real world.

Override serial port using a ROS parameter

Give the ability to override the default serial port, useful when the system has other devices using the same usb-serial adapter.

If the user provides the port parameter, its value is used instead of the auto-detect mechanism.

Point distance scale is wrong

Points distance is provided in mm by the device but not scaled to m to suit sensor_msgs/laserscan.

Configure CI

Configure CI to automatically build/test the code

Question about recommendations

Hello,
as there are mostly no information or reviews available to this tiny device I ask you to share your toughts. Is this a valuable device and are you satisfied so far?

Proper docs

Create some documentation

High CPU usage caused by while loop at end of main.cpp

The while loop at the end of src/main.cpp runs at the highest rate possible without pausing after it has published data. This means the CPU usage is much higher than it needs to be because lidar->IsFrameReady() always evaluates to true once data has been received, so the loop always publishes the laser scan (even if the data hasn't changed).

This can be fixed by adding a sleep (specifically, rate.sleep()) to regulate the timing of the loop. The attached file shows the proposed changes to reduce the CPU usage. I have set the rate to 20 Hz because that is a reasonable amount greater than the maximum scanning frequency of the lidar (13 Hz), so there is no chance of skipped messages and the frequency of repeated messages is much lower.

cpu_fix.patch