Keelson Connector Lidar YD

YD Lidar connector to Keelson. Publishing point clouds to the keelson network.

OBS! To run the scipt on other systems then linux-x86 you need to build your own python installable package of ydlindar.

Supported and tested sensor types:

• G4 (Budrate: 230400 SampleRate: 9/8/4)
  • Development Manual
  • User Manual
  • Data Sheet

Python SDKs used

YDLidar-SDK Wheel package built from repo

PyLidar3 tested but connection to lidar unreliable.

Run main.py start script examle

1. Creat an virtual enviroment
2. Install packages
3. Start main.py with following example argumnents

# Simple 
python bin/main.py -r rise -e boatswain --log-level 10 

# Extended settings 
python bin/main.py -r rise -e boatswain --device-port /dev/ttyACM1 --log-level 10 


# Experimental
python bin/main.py -r rise -e boatswain --device-port /dev/ttyACM1 --log-level 10 

Docker compose example

version: '3'
services:

  keelson-connector-lidar-yd:
    image: ghcr.io/mo-rise/keelson-connector-lidar-yd:latest
    container_name: lidar-yd
    restart: unless-stopped
    network_mode: "host"
    privileged: true
    devices:
      - "/dev/ttyACM1:/dev/ttyACM1"
    command: "-r rise -e boatswain --device-port /dev/ttyACM1"
    

Truble shooting / Lessons learned

# If you do not have access rights to read devise 
sudo chmod a+rw /dev/ttyACM1