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https://github.com/gurumian/lidro_isl100
https://github.com/gurumian/lidro_isl100
Last synced: 24 days ago
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- Host: GitHub
- URL: https://github.com/gurumian/lidro_isl100
- Owner: gurumian
- License: mit
- Created: 2024-07-17T06:48:57.000Z (4 months ago)
- Default Branch: ros2
- Last Pushed: 2024-08-15T06:03:33.000Z (3 months ago)
- Last Synced: 2024-10-04T20:20:37.399Z (about 1 month ago)
- Language: C++
- Size: 42 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# LIDRO ISL-100
LIDRO ISL-100 ros2 driver.
## 1. Network Settings
`netplan` can be used to connect to the LiDAR.
#### How to install `netplan`
```bash
sudo apt install -y netplan.io
```
It is assumed that the configuration will be as follows:
- Host: 192.168.1.100
- LiDAR: 192.168.1.10
Update `/etc/netplan/01-network-manager-all.yaml` as follows:
```yaml
network:
version: 2
renderer: NetworkManager
ethernets:
eth2:
addresses:
- 192.168.1.100/24
routes:
- to: 192.168.1.10
```
## 2. Config file
### 2.1 Basic Configuration
```yaml
lidro_isl100_node:
ros__parameters:
# stream-mode options:
# [1] 96×480 (~300m)
# [2] 96×960 (~300m)
# [3] 192×480 (~150m)
# [4] 192×960 (~150m)
mode: 1
frame_id: lidar_link
host_addr: "192.168.1.100"
host_ctrl_port: 5051
host_data_port: 5055
lidar_addr: "192.168.1.10"
lidar_ctrl_port: 1011
frequency: 10.0 #(Hz)
publish_ambient_data: true
min_distance: 0.5 #(m)
max_distance: 300.0 #(m) maximum distance varies depending on the stream-mode
```
## 3. Run the Samples
```bash
colcon build --symlink-install
source install/local_setup.bash
ros2 launch bringup.launch.py
```
To visualize the data, use:
```bash
rviz2 -d lidro_isl100/rviz/config_isl100.rviz
```
## 4. Publications
- `/lidro/image`: ``
- `/lidro/points`: ``