add Lslidar_ROS2_driver/

2025-06-06 10:44:28 +08:00
parent b2fc659c53
commit d398ba0a22
24 changed files with 3192 additions and 0 deletions
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.5)
+project(lslidar_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+rosidl_generate_interfaces(lslidar_msgs
+  "msg/LslidarDifop.msg"
+  "msg/LslidarPacket.msg"
+  "msg/LslidarPoint.msg"
+  "msg/LslidarScan.msg"
+  "msg/LslidarSweep.msg"
+  DEPENDENCIES builtin_interfaces std_msgs
+  )
+
+ament_package()
@@ -0,0 +1,2 @@
+int64 temperature
+int64 rpm
@@ -0,0 +1,5 @@
+# Raw Leishen LIDAR packet.
+
+builtin_interfaces/Time stamp              # packet timestamp
+uint8[2000] data        # packet contents
+
@@ -0,0 +1,12 @@
+# Time when the point is captured
+float32 time
+
+# Converted distance in the sensor frame
+float64 x
+float64 y
+float64 z
+
+# Raw measurement from Leishen M10
+float64 azimuth
+float64 distance
+float64 intensity
@@ -0,0 +1,6 @@
+# Altitude of all the points within this scan
+float64 altitude
+
+# The valid points in this scan sorted by azimuth
+# from 0 to 359.99
+LslidarPoint[] points
@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+# The 0th scan is at the bottom
+LslidarScan[16] scans
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>lslidar_msgs</name>
+  <version>1.2.0</version>
+  <description>ROS message definitions for Leishen LIDARs.</description>
+  <maintainer email="shaohuashu@lslidar.com">Nick Shu</maintainer>
+  <author>Nick Shu</author>
+  <license>GNU General Public License V3.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+
+  <depend>std_msgs</depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>