X-lanni
d0688eb122
1. LSLiDAR driver: - Fixed packet header check in serial parser - Updated angle compensation for M10 series - Fixed angle discontinuity bug - Added optional PointCloud2 publishing - Added optional LaserScan publishing - Added support for ROS 2 Humble - Added support for dual-echo LiDARs - Added TXT-based config loading 2. RViz: - Updated gmapping.rviz file for SLAM display 3. AGV bringup: - Modified launch file for LSN10P integration
45 lines
932 B
Markdown
Executable File
45 lines
932 B
Markdown
Executable File
# lslidar
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## Description
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The `lslidar package is a linux ROS2 driver for lslidar M10 ,M10_GPS,M10_P,M10_PLUS and N10.
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The package is tested on Ubuntu 20.04 with ROS2 FOXY.
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## Compling
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This is a Catkin package. Make sure the package is on `ROS_PACKAGE_PATH` after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.
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```
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cd your_work_space
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colcon build
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source install/setup.bash
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ros2 launch lslidar_driver lslidar_launch.py
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```
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open new terminal
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ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ (open radar)
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ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ (close radar)
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ros2 launch lslidar_driver lslidar_launch.py
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```
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Note that this launch file launches both the driver, which is the only launch file needed to be used.
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## FAQ
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## Bug Report
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Prefer to open an issue. You can also send an E-mail to honghangli@lslidar.com
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RERTION
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