ทดสอบการทำงาน YDLIDAR X4 บนระบบ ROS

Create YDLIDAR ROS driver package

（1）Switch your computer to the src directory of a ROS workspace and replace catkin_ws with your ROS workspace.

$cd ~/catkin_ws/src

（2）Clone the ydlidar project into the src directory under your ROS workspace.

$git clone https://github.com/EAIBOT/ydlidar

$cd ..

（3）The compiler generates ydlidar_node and ydlidar_client.

$catkin_make --pkg ydlidar

Run YDLIDAR ROS driver package
 
（1）Create YDLIDAR Radar Serial Alias [/dev/ydlidar].

$roscd ydlidar/startup

$sudo chmod 0777 *

$sudo sh initenv.sh

** Reboot OS **

（2） Open lidar.launch and change the baud rate for different models of lidar. The following is the configuration of X4.

$roscd ydlidar/launch

$vim lidar.launch

There are two ways to run YDLIDAR ROS driver package:

（1） Run ydlidar_node and rviz

$roslaunch ydlidar lidar_view.launch

（2） Run ydlidar_node and ydlidar_client

$roslaunch ydlidar lidar.launch

$rosrun ydlidar ydlidar_client

###data output on computer