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tmini_plus_emulator\nSerial LiDAR emulator (T-mini Plus)\n\n## Requirements\n- CMake \u003e= 3.10 and a C++ compiler\n- socat (for virtual serial port)\n- ydlidar_ros2_driver (for ROS2 node)\n\n## Build\n```bash\ngit clone https://github.com/Ar-Ray-code/tmini_plus_emulator.git\nmkdir -p tmini_plus_emulator/linux/build\ncd tmini_plus_emulator/linux/build\n\ncmake ..\nmake -j$(nproc)\n./tmini_plus_emulator\n```\n\n## Usage\n\n### Terminal 1\nSetup a virtual serial port pair\n\n```bash\nsocat -d -d pty,raw,echo=0,link=/tmp/ttyEMUL pty,raw,echo=0,link=/tmp/ttyROS\n```\n\n### Terminal 2 (Emulator side)\n\nRun the emulator ([example_data.txt](data/example_data.txt) is provided)\n\n```bash\ncd \u003cpath to build directory\u003e\n./tmini_plus_emulator /tmp/ttyEMUL ../../data/example_data.txt\n\n## If you want to stream the data repeatedly, use the --stream option\n# ./tmini_plus_emulator /tmp/ttyEMUL ./tmini_plus_emulator/data/example_data.txt --stream\n```\n\n### Terminal 3 (YDLidar ROS side)\n\nSetup the [ydlidar_ros](https://github.com/YDLIDAR/ydlidar_ros2_driver) repo and run the ROS2 node\n\n[lidar_params.yaml](config/lidar_params.yaml) is provided, make sure to set the `port` parameter to `/tmp/ttyROS`\n\n```bash\nsource \u003cpath to your ros2 workspace\u003e/install/setup.bash\nros2 launch ydlidar_ros2_driver ydlidar_launch.py params_file:=\u003cpath to lidar_params.yaml\u003e\n```\n\n### Terminal 4 (View the data)\nOpen RViz2 and add a LaserScan display, setting the topic to `/scan`\n\n```bash\nsource /opt/ros/\u003cros2_distro\u003e/setup.bash\n\nrviz2\n```\n\u003cimg width=\"885\" height=\"572\" alt=\"Screenshot from 2025-09-16 18-45-19\" src=\"https://github.com/user-attachments/assets/1053105b-7d19-450f-9854-ebad7b881f96\" /\u003e\n\n\n## References\n\n[YDLDIAR T-MINI PLUS DEVELOPMENT MANUAL](https://cdn.soselectronic.com/productdata/1f/ec/c83edf83/t-mini-plus.pdf)\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Ftmini_plus_emulator","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Far-ray-code%2Ftmini_plus_emulator","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Ftmini_plus_emulator/lists"}