LSLidar-C16-ROS for Linux

1. Instalasi ROS

Configure your Ubuntu repositories

Konfigurasikan repositori Ubuntu Anda untuk mengizinkan "terbatas", "semesta", dan "multiverse". Anda dapat mengikuti panduan Ubuntu untuk petunjuk melakukan hal ini.

Setup your sources.list

• sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

• sudo apt install curl # if you haven't already installed curl
• curl -s https://github.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

• sudo apt update
• sudo apt install ros-noetic-desktop-full

Environment setup

• source /opt/ros/noetic/setup.bash
• echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
• source ~/.bashrc

Dependencies for building packages

• sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
• sudo apt install python3-rosdep
• sudo rosdep init
• rosdep update

2. Software Operation Example

Membangun ruang kerja dan membangun lingkungan kompilasi

• mkdir -p ~/catkin_ws/src
• cd ~/catkin_ws/src

Download ROS Driver

• git clone -b C32_V4.0 https://github.com/Lslidar/Lslidar_ROS1_driver.git

Compile and package

• cd ~/catkin_ws
• catkin_make

Jalankan Program

• source devel/setup.bash
• roslaunch lslidar_cx_driver lslidar_cx.launch

3. Mengambil data 3D Lidar dari ROS ke Python

• source /opt/ros/noetic/setup.bash
• Untuk mengambil data xyz dari ROS, maka bisa gunakan kode python ROSLidar.py