updete to 1.1.0

.gitignore

@@ -0,0 +1,29 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

CMakeLists.txt

@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ydlidar)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rosconsole
+  roscpp
+  sensor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ydlidar
+#  CATKIN_DEPENDS rosconsole roscpp sensor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}/src
+)
+
+## Declare a C++ library
+# add_library(ydlidar
+#   src/${PROJECT_NAME}/ydlidar.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(ydlidar ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(ydlidar_node src/ydlidar_node.cpp)
+
+add_executable(ydlidar_node src/ydlidar_node.cpp  src/ydlidar.cpp)
+add_executable(ydlidar_client src/ydlidar_client.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(ydlidar_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(ydlidar_node
+#   ${catkin_LIBRARIES}
+# )
+
+target_link_libraries(ydlidar_node
+   ${catkin_LIBRARIES}
+ )
+target_link_libraries(ydlidar_client
+   ${catkin_LIBRARIES}
+ )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ydlidar_node ydlidar_client
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY launch startup
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_flashgo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

@@ -1,2 +1,43 @@
-# ydlidar
-The driver of ydlidar for ROS on the linux !
+YDLIDAR ROS PACKAGE V1.1.0
+=====================================================================
+
+ROS node and test application for YDLIDAR
+
+Visit EAI Website for more details about YDLIDAR.
+
+How to build YDLIDAR ros package
+=====================================================================
+    1) Clone this project to your catkin's workspace src folder
+    2) Running catkin_make to build ydlidar_node and ydlidar_client
+    3) Create the name "/dev/ydlidar" for YDLIDAR
+    --$ roscd ydlidar/startup
+    --$ sudo chmod 777 ./*
+    --$ sudo sh initenv.sh
+
+How to run YDLIDAR ros package
+=====================================================================
+There're two ways to run YDLIDAR ros package
+
+1. Run YDLIDAR node and view in the rviz
+------------------------------------------------------------
+--$ roslaunch ydlidar lidar_view.launch
+
+Then , you can see YDLIDAR's scan result in the rviz.
+
+2. Run YDLIDAR node and view using test application
+------------------------------------------------------------
+--$ roslaunch ydlidar lidar.launch
+
+--$ rosrun ydlidar ydlidar_client
+
+Then, you can see YDLIDAR's scan result in the console
+
+
+UPDATE LOG
+--20171112 v1.0.0 
+1.the first edition
+
+--20171122 v1.1.0 
+1.Repair display flicker problem.
+2.Repair the problem of open the serial port for many times.
+3.Add multithreaded tag.

launch/lidar.launch

@@ -0,0 +1,13 @@
+<launch>
+  <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen">
+    <param name="port"         type="string" value="/dev/ydlidar"/>  
+    <param name="baudrate"     type="int"    value="128000"/>
+    <param name="frame_id"     type="string" value="laser_frame"/>
+    <param name="angle_fixed"  type="bool"   value="true"/>
+    <param name="angle_min"    type="double" value="-180" />
+    <param name="angle_max"    type="double" value="180" />
+    <param name="ignore_array" type="string" value="" />
+  </node>
+  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
+    args="0.2245 0.0 0.2 0.12 0.0  0.0 /base_footprint /laser_frame 40" />
+</launch>