YDLidar_Apollo_Driver

YDLidar_Apollo_Driver can convert YDLIDAR LiDAR's raw data to LidarScan and standard format of point cloud, and write to point cloud channels.

LidarScan output channels

Each LiDAR corresponds to a lidar scan channel.

channel: /apollo/sensor/ydlidar/front/center/LidarScan
type: apollo::drivers::ydlidar::LidarScan
proto: [modules/drivers/ydlidar/proto/ydlidar.proto]https://github.com/YDLIDAR/ydlidar_apollo_driver/blob/master/modules/drivers/ydlidar/proto/ydlidar.proto

Point cloud output channels

Each LiDAR corresponds to a point cloud channel.

channel: /apollo/sensor/ydlidar/front/center/PointCloud
type: apollo::drivers::PointCloud
proto: [modules/drivers/proto/pointcloud.proto]https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/proto/pointcloud.proto

Config file

frame_id: "ydlidar_horizon_front_center"
scan_channel: "/apollo/sensor/ydlidar/front/center/LidarScan"
pc_channel: "/apollo/sensor/ydlidar/front/center/PointCloud"
port: "/dev/ydlidar"
ignore_array: ""
baudrate: 512000
lidar_type: 0
device_type: 0
sample_rate: 20
abnormal_check_count: 4
resolution_fixed: false
reversion: true
inverted: true
auto_reconnect: true
isSingleChannel: false
intensity: false
support_motor_dtr: false
max_angle: 180.0
min_angle: -180.0
max_range: 64.0
min_range: 0.01
frequency: 10.0

• scan_channel represents LiDAR's lidar scan output channel.
• pc_channel represents LiDAR's point cloud output channel.
• port represents LiDAR's serial port or network ip address．
• ignore_array represents the culling angle range of lidar, separated by commas．
• baudrate represents LiDAR's baudrate or network port．
• lidar_type represents LiDAR's Type, it can be configured to: (1) TYPE_TOF(0)．(2) TYPE_TRIANGLE(1). (3) TYPE_TOF_NET(2).
• device_type represents LiDAR's Device type, it can be configured to: (1) YDLIDAR_TYPE_SERIAL(0). (2) YDLIDAR_TYPE_TCP(1)．
• sample_rate represents LiDAR's sample rate
• abnormal_check_count represents the maximum number of exception attempts when lidar is connected．
• resolution_fixed represents whether lidar is a fixed angle resolution output．
• reversion represents whether to rotate 180 degrees．
• inverted represents wether to switch to the counter clockwise direction．
• auto_reconnect represents wether to automatically reconnect．
• isSingleChannel represents wether it is a single channel lidar.
• intensity represents wether to support intensity．
• support_motor_dtr represents wether to support DTR．
• max_angle represents LiDAR's maximum effective angle.
• min_angle represents LiDAR's minimum effective angle．
• max_range represents LiDAR's maximum effective range．
• min_range represents LiDAR's minimum effective range．
• frequency represents LiDAR's scan frequency

Notice

1. Please refer to lidar data sheet for specific lidar parameters.

2. The intensity information can only be set to true with the support of lidar.

How to add to Apollo Project

YDLidar_Apollo_Driver has the same directory structure as Apollo5.0

1. copy ydlidar_apollo_driver to the same folder of your apollo project：

cp -r ydlidar_apollo_driver/apollo/modules/drivers/ydlidar  your_apollo_project/apollo/modules/drivers/
cp ydlidar_apollo_driver/apollo/docker/build/installers/install_ydlidar_sdk.sh  your_apollo_project/apollo/docker/build/installers/

2. start and enter apollo docker:

bash /apollo/docker/scripts/dev_start.sh
bash /apollo/docker/scripts/dev_into.sh

3. install ydlidar_sdk dynamic link library:

sudo bash /apollo/docker/build/installers/install_ydlidar_sdk.sh

4. build project:

bash apollo.sh build

Start YDLidar_Apollo_Driver

#in docker
cd /apollo && cyber_launch start modules/drivers/ydlidar/launch/ydlidar.launch

YDLidar_Apollo_Driver test

#in docker
cd /apollo && ./bazel-bin/modules/drivers/ydlidar/driver/driver_test