Moved to https://git.opendlv.org.

OpenDLV Microservice to interface with RPLidar units

This repository provides source code to interface with an RPLidar unit for the OpenDLV software ecosystem.

Table of Contents

• Dependencies
• Usage
• Build from sources on the example of Ubuntu 16.04 LTS
• License
• PointCloudReading data structure

Dependencies

No dependencies! You just need a C++14-compliant compiler to compile this project as it ships the following dependencies as part of the source distribution:

• libcluon -
• wjwwood/serial -
• Unit Test Framework Catch2 -

Usage

This microservice is created automatically on changes to this repository via Docker's public registry for:

• x86_64
• armhf
• aarch64

To run this microservice using our pre-built Docker multi-arch images to connect to an RPLidar unit providing data via a serial USB connectiong like /dev/ttyUSB0 and to publish the messages according to OpenDLV Standard Message Set into session 111 in Google Protobuf format, simply start it as follows:

docker run --init --rm --net=host --device=/dev/ttyUSB0 chalmersrevere/opendlv-device-lidar-rplidar-multi:v0.0.4 --device=/dev/ttyUSB0 --cid=111 --verbose

Build from sources on the example of Ubuntu 16.04 LTS

To build this software, you need cmake, C++14 or newer, and make. Having these preconditions, just run cmake and make as follows:

mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release ..
make && make test && make install

License

• This project is released under the terms of the GNU GPLv3 License

PointCloudReading data structure

opendlv-device-lidar-rplidar receives the data from an RPLidar as input and tranforms the payload into a more compact PointCloudReading representation.