DFRobot LiDAR LD19 Laser Sensor Kit 

DFRobot LiDAR LD19 Laser Sensor Kit

Litaba pata
1 TLHALOSO EA SEHLAHISOA
2 PUISANO SEBAKA
3 TŠEBELETSO EA DATA
3.1 Sebopeho sa pakete ea data
3.2 Tlhahlobo ea lintlha tsa tekanyo
4 Example
5 TS'ELISO TS'EBE
6 LITS'ELISO MITAELO
6.1 Mokhoa oa ho sebelisa sesebelisoa sa tlhahlobo
6.2 Sehlahisoa sa 3D mohlala file
6.3 Ts'ebetso e thehiloeng ho ROS tlasa Linux
6.4 Ts'ebetso e thehiloeng ho ROS2 tlasa Linux
6.5 Litaelo tsa ho sebelisa SDK tlas'a Linux
6.6 Litaelo tsa ho sebelisa ROS e thehiloeng ho Raspberry Pi SBC
7 TS'ELISO TS'OANE
8 Litokomane / Lisebelisoa
8.1 Litšupiso
9 Related Posts

TLHALOSO EA SEHLAHISOA

LD19 haholo-holo e entsoe ka laser e qalang, yuniti ea telex e se nang mohala, yuniti ea puisano e se nang mohala, yuniti ea tekanyo ea angle, yuniti ea koloi le casing ea mochini.

Mokotla oa LD19 o sebelisa theknoloji ea DTOF, e ka methang makhetlo a 4,500 ka motsotsoana. Nako le nako ha sebaka se lekanngoa, LD19 e hlahisa laser ea infrared pele, 'me laser e bontšoa ho unit e amohelang photon e le' ngoe ka mor'a ho kopana le ntho e lebisitsoeng. Ho tloha ho sena, re ile ra fumana nako eo ka eona laser e neng e ntšoa le nako eo mochine o amohelang photon o le mong o amohelang laser. Phapang ea nako lipakeng tsa tse peli ke nako ea ho fofa ha leseli. Nako ea ho fofa e ka kopanngoa le lebelo la leseli ho bala sebaka.

Ka mor'a ho fumana lintlha tsa hole, LD19 e tla kopanya litekanyetso tsa li-angle tse lekantsoeng ke yuniti ea tekanyo ea li-angle ho theha lintlha tsa leru la ntlha, ebe e romela lintlha tsa leru la ntlha ho sebopeho sa kantle ka puisano e se nang mohala. LD19 e ts'ehetsa taolo ea lebelo ea kahare, lebelo le ka ts'oaroa ho 10±0.1Hz ka har'a metsotsoana e meraro ka mor'a hore motlakase o buloe. Ka nako e ts'oanang, sebopeho sa PWM sa kantle se fanoa ho tšehetsa taolo ea lebelo la kantle. Ka mor'a hore karolo ea taolo ea kantle e fumane lebelo, e laoloa ke PID algorithm e koetsoeng, 'me letšoao la PWM le kenngoa ho etsaLD3 ho fihla lebelo le boletsoeng.

Papiso ea tlhahlobo ea tikoloho e entsoeng ke lintlha tsa maru tsa LD19 e bontšitsoe ka tlase:

Tlhaloso ea Sehlahisoa

PUISANO SEBAKA

LD19 e sebelisa sehokelo sa ZH1.5T-4P 1.5mm ho hokahana le sistimi ea kantle ho hlokomela phepelo ea motlakase le kamohelo ea data. Tlhaloso e khethehileng ea sebopeho le litlhoko tsa parameter li bonts'oa setšoantšong / tafole e latelang:

boemakepe palo sesupo lebitso mofuta tlhaloso ion e nyane mme tloaelehileng maxi mme
1 Tx tlhahiso LIDAR

tlhahiso ya data

 ov 3.3V 3.5V
2 PWM kenya letsoho taolo ea makoloi ov – 3.3V
3 GND phepelo ea motlakase mpe – ov –
4 P5V phepelo ea motlakase ntle 4.5V 5V 5.5V

LD19 e na le enjene

LD19 e na le mokhanni oa enjene ea nang le taolo ea lebelo le tlase, e ts'ehetsang taolo ea lebelo ea kahare le taolo ea lebelo la kantle. Ha phini ea PWM e thehiloe, ea kamehla ke taolo ea lebelo ea ka hare, 'me lebelo la kamehla ke 10±0.1Hz. Bakeng sa taolo ea lebelo la kantle, lets'oao la square wave le hloka ho hokahanngoa le pini ea PWM, 'me ho qala, ho emisa le lebelo la enjene ho ka laoloa ka potoloho ea mosebetsi oa lets'oao la PWM. Maemo a ho tsosa taolo ea lebelo le kantle: a. Kena PWM frequency 20-50K, kgothaletswa 30K; b. Potoloho ea mosebetsi e ka hare ho nako (45%, 55%) (ho sa kenyeletsoe 45% le 55%), le bonyane 100ms nako e tsoelang pele ea ho kenya. Ka mor'a hore taolo ea lebelo la ka ntle e qale, e lula e le boemong ba ho laola lebelo la ka ntle, 'me taolo ea ka hare ea lebelo e tla tsosolosoa ntle le haeba matla a tima le ho qala hape; ka nako e ts'oanang, taolo ea lebelo e ka etsoa ka ho fetola potoloho ea mosebetsi oa PWM. Ka lebaka la liphapang tsa enjene ka 'ngoe ea sehlahisoa, lebelo la nnete le ka fapana ha potoloho ea mosebetsi e behiloe ho boleng bo tloaelehileng. Ho laola lebelo la motlakase ka nepo, hoa hlokahala ho etsa taolo e koetsoeng ho latela tlhaiso-leseling ea lebelo ho data e amohetseng. Hlokomela: Ha o sa sebelise taolo ea lebelo la kantle, phini ea PWM e tlameha ho theoa.

Khokahano ea data ea LD19 e amohela phetisetso ea tsela e le 'ngoe ea universal asynchronous serial port (UART), mme liparamente tsa eona tsa phetisetso li bonts'oa tafoleng e latelang:

sekhahla sa baud bolelele ba data emisa hanyane parity bit taolo ya ho phalla
230400bit/s 8 Bits I 1 I ha ho letho I ha ho letho

TŠEBELETSO EA DATA

Sebopeho sa pakete ea data

LD19 e amohela puisano ea tsela e le 'ngoe. Kamora ts'ebetso e tsitsitseng, e qala ho romella lipakete tsa data tsa tekanyo ntle le ho romela litaelo. Sebopeho sa pakete ea tekanyo e bontšitsoe setšoantšong se ka tlase.

Hlooho VerLen Lebelo Tsela ea ho qala Lintlha Sekhutlo sa ho qetela Nakoamp CRC hlahloba
54H Ke Byte LSB MSB LSB MSB …… LSB MSB LSB MSB Ke Byte
  • Sehlooho: Bolelele ke 1 Byte, 'me boleng bo tsitsitse ho 0x54, e bontšang tšimoloho ea pakete ea data;
  • Verlen: Bolelele ke 1 Byte, likotoana tse tharo tse ka holimo li bonts'a mofuta oa pakete, eo hajoale e behiloeng ho 1, 'me likotoana tse hlano tse tlase li bonts'a palo ea lintlha tsa tekanyo ka har'a pakete, eo hajoale e behiloeng ho 12, kahoo boleng ba li-byte bo tsitsitse. ka 0x2C;
  • Lebelo: Bolelele ke 2 Byte, yuniti ke likhato ka motsotsoana, e bontšang lebelo la lidar;
  • Tsela ea ho qala: Bolelele ke li-Byte tse 2, 'me yuniti ke likhato tse 0.01, e bontšang sebaka sa ho qala sa ntlha ea pakete ea data;
  • Lintlha: E bonts'a lintlha tsa tekanyo, bolelele ba data ke li-byte tse 3, ka kopo sheba karolo e latelang bakeng sa tlhahlobo e felletseng;
  • Qetello ea likhutlo: Bolelele ke 2 Byte, 'me yuniti ke likhato tse 0.01, e bontšang sebaka sa ho qetela sa ntlha ea pakete ea data;
  • Nakoamp : Bolelele ke 2 Byte, unit ke milliseconds, 'me boholo ke 30000. Ha e fihla ho 30000, e tla baloa hape, e bontšang linakoamp boleng ba pakete ea data;
  • Tlhahlobo ea CRC: Bolelele ke 1 Byte, e fumanoeng ho netefatso ea data eohle e fetileng ntle le eona. Bakeng sa mokhoa oa netefatso oa CRC, bona litaba tse latelang bakeng sa lintlha;

Referense ea sebopeho sa data e tjena:

#define PO/NT_PER_PACK 12
#define HEADER 0x54
typedef struct _attribute_((e tletse))
{uint16_t sebaka;
uint8_t matla; } LidarPointStructDef;
typedef struct _attribute_((e tletse)) {

uint8_t:  hlooho;
uint8 t:  ver_len;
uint16_t:  lebelo;
uint16 t: qalo_ angle;
LidarPointStructDef ntlha[POINT_PER_PACK};
uint16 t: pheletso_ekhutlo;
uint16_t: linakoamp;
uint8 t: crc8;
}LiDARFrameTypeDef;

Mokhoa oa ho bala oa CRC ke o latelang:

static canst uint8_t CrcTable{256]={
0x00, 0x4d, 0x9a, 0xdl, 0x79, 0x34, 0xe3,
0xae, 0xf2, 0xbf, 0x68, 0x25, 0x8b, 0xc6, 0x11, 0x5c, 0xa9, 0x4, 0x33,
0xle, 0xd0, 0x9d, 0x4a, 0x0l, 0x5b, 0x16, 0xcl, 0x8c, 0x22, 0x6f, 0xb8,
0xf5, 0xlf, 0x52, 0x85, 0xc8, 0x66, 0x2b, 0xfc, 0xbl, 0xed, 0xa0, 0xll,
0x3a, 0x94, 0xd9, 0x0e, 0x43, 0xb6, 0xfb, 0x2c, 0x61, 0xcf, 0x82, 0x55,
Ox18, Ox44, Ox09, Oxde, Ox93, Ox3d, OxlO, Oxal, Oxea, Ox3e, Ox73, Oxa4,
Oxe9, Ox47, OxOa, Oxdd, Ox90, Oxee, Ox81, Ox56, Oxlb, Oxb5, Oxf8, Ox2f,
Ox62, Ox97, Oxda, OxOd, Ox40, Oxee, Oxa3, Ox74, Ox39, Ox65, Ox28, Oxff,
Oxb2, Oxle, Ox51, Ox86, Oxeb, Ox21, Ox6e, Oxbb, Oxf6, Ox58, Ox15, Oxe2,
Ox8f, Oxd3, Ox9e, Ox49, Ox04, Oxaa, Oxel, Ox30, Oxld, Ox88, Oxe5, Ox12,
Ox5f, Oxfl, Oxbe, Ox6b, Ox26, Oxla, Ox37, OxeO, Oxad, Ox03, Ox4e, Ox99,
Oxd4, Oxle, Ox31, Oxe6, Oxab, Ox05, Ox48, Ox9f, Oxd2, Ox8e, Oxe3, Ox14,
Ox59, Oxfl, Oxba, Ox6d, Ox20, Oxd5, Ox98, Ox4f, Ox02, Oxae, Oxel, Ox36,
Oxlb, Ox27, Ox6a, Oxbd, OxfO, Ox5e, Ox13, Oxe4, Ox89, Ox63, Ox2e, Oxf9,
Oxb4, Oxla, Ox57, Ox80, Oxed, Ox91, Oxde, OxOb, Ox46, Oxe8, Oxa5, Ox72,
Ox3f, Oxca, Ox87, Ox50, Oxld, Oxb3, Oxfe, Ox29, Ox64, Ox38, Ox75, Oxa2,
Oxef, Ox41, OxOe, Oxdb, Ox96, Ox42, OxOf, Oxd8, Ox95, Ox3b, Ox76, Oxal,
Oxee, OxbO, Oxfd, Ox2a, Ox67, Oxe9, Ox84, Ox53, Oxle, Oxeb, Oxa6, Ox71,
Ox3e, Ox92, Oxdf, Ox08, Ox45, Ox19, Ox54, Ox83, Oxee, Ox60, Ox2d, Oxfa,
Oxbl, Ox5d, Ox10, Oxel, Ox8a, Ox24, Ox69, Oxbe, Oxf3, Oxaf, Oxe2, Ox35,
Ox 78, Oxd6, Ox9b, Ox4e, Ox01, Oxf4, Oxb9, Ox6e, Ox23, Ox8d, OxeO, Oxl 7,
Ox5a, Ox06, Ox4b, Ox9e, Oxdl, Oxlf, Ox32, Oxe5, Oxa8 };
uint8_t CaJCRC8{uint8_t *p, uint8_t Jen){
uint8_t ere= O;
uint16_t ke;
bakeng sa (ke = O; ke <Jen; i++){
ere= CreTabJe[(ere J\ *p++) & Oxff]; }
khutlela ere;

 

Tlhahlobo ea lintlha tsa tekanyo

Lintlha tsa lintlha tsa tekanyo ka 'ngoe li na le boleng ba sebaka sa 2-byte le boleng ba kholiseho ea 1-byte, joalo ka ha ho bonts'itsoe setšoantšong se ka tlase.

Hlooho VerLen Lebelo Tsela ea ho qala Lintlha Sekhutlo sa ho qetela Nakoamp CRC hlahloba
54H 2cH LSB MSB LSB MSB …… LSB MSB LSB MSB lByte

Ntlha ea ho lekanya 1 Ntlha ea ho lekanya 2 … Ntlha ea ho lekanya n
bohole matla bohole matla bohole matla
LSB MSB 1 Byte LSB MSB 1 Byte … LSB MSB 1 Byte

Yuniti ea boleng ba sebaka ke mm. Boleng ba matla a lets'oao le bonts'a matla a ho bonahatsa khanya. Ha matla a phahame, boleng bo boholo ba pontšo ea matla; ha matla a le tlase, boleng ba mats'oao bo nyane. Bakeng sa ntho e tšoeu ka har'a 6m, boleng bo tloaelehileng ba boleng ba matla a pontšo bo pota-potile 200. Boleng ba sekhahla sa ntlha e 'ngoe le e' ngoe e fumanoa ka ho kenngoa ha linear ea angle ea ho qala le ho qetela. Mokhoa oa ho bala li-angle ke tse latelang:

mohato= (qetellong_angle -start_angle)/(Jen -1);
angle= start_angle + mohato*i;
moo Jen e leng palo ea lintlha tsa tekanyo ka har'a sephutheloana sa data, 'me boleng ba boleng ba i ke [O, Jen).

Example

A re re re fumana sengoathoana sa data joalokaha ho bontšitsoe ka tlase.
54 2C 68 08 AB 7E EO 00 E4 DC 00 E2 D9 00 ES DS 00 E3 D3 00 E4 DO 00 E9 CD 00 E4 CA 00 E2 C7 00 E9 CS 00 ES C2 00 ES CO 00A82 3 BE

Re e sekaseka ka tsela e latelang:

Hlooho VerLen Lebelo Tsela ea ho qala Lintlha Sekhutlo sa ho qetela Nakoamp CRC hlahloba
54H 2CH 68H 08H ABH 7EH …… BEH 82H 3AH lH 50H

Ntlha ea ho lekanya 1 Ntlha ea ho lekanya 2  

•••

 Ntlha ea ho lekanya 12
bohole matla bohole matla bohole matla
EOH OOH E4H DCH OOH E2H … BOH OOH EAH
Boitsebiso ba tšimo Mokhoa oa ho qhekella
Lebelo 0868H = likhato tse 2152 motsotsoana;
Tsela ea ho qala 7EABH = 32427, kapa likhato tse 324.27;
Sekhutlo sa ho qetela 82BEH = 33470, kapa likhato tse 334.7;
Ntlha ea ho lekanya ke hole OOEOH = 224mm
Ho lekanya ntlha 1 matla E4H = 228
Ho lekanya ntlha 2 sebaka OODCH = 200mm
Ho lekanya ntlha 2 matla OOE2H = 226
… …
Ho lekanya ntlha 12 sebaka OOBOH = 176mm
Ho lekanya ntlha 12 matla EAH=234

TS'ELISO TS'EBE

LD19 e sebelisa mokhoa oa ho hokahanya ka letsohong le letšehali, setsi sa ho potoloha ke mohloli oa ho hokahanya, karolo e ka pele ea sensor e hlalosoa e le tataiso ea zero-degree, 'me sekhahla sa ho potoloha se eketseha ka nako, joalokaha ho bontšitsoe setšoantšong se ka tlase.

Sistimi ea Coordinate

LITS'ELISO MITAELO

Mokhoa oa ho sebelisa sesebelisoa sa tlhahlobo

Khokahano ea thapo ea Hardware le tlhaloso

  1. LiDAR, terata, boto ea adaptara ea USB, joalo ka ha ho bonts'itsoe setšoantšong se latelang:
    Mokhoa oa ho sebelisa sesebelisoa sa tlhahlobo
  2. Setšoantšo sa khokahano, joalo ka ha se bonts'itsoe setšoantšong se ka tlase:
    Mokhoa oa ho sebelisa sesebelisoa sa tlhahlobo

Ho kenya mokhanni tlas'a Windows

Ha u lekola lihlahisoa tsa k'hamphani tlasa Windows, hoa hlokahala ho kenya mokhanni oa serial port oa boto ea adaptara ea USB. Lebaka ke hore boto ea adaptara ea USB ka har'a lisebelisoa tsa nts'etsopele e fanoeng ke k'hamphani e nka CP2102 USB ho serial port adapter chip, mme mokhanni oa eona a ka fumanoa ho Silicon Download ho tsoa ho semmuso Labs. websebaka:
https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers

Kapa, ​​​​Kamora ho theola sephutheloana sa mokhanni oa CP210x_Universal_Windows_Driver, etsa exe. file bukeng ea sephutheloana sa ho kenya mokhanni, ebe u khetha X86 (32-bit) kapa X64 (64-bit) ho latela mofuta oa sistimi ea Windows.

Ho kenya mokhanni tlas'a Windows

Penya habeli exe file 'me u latele litlhahiso tsa ho e kenya.

Ho kenya mokhanni tlas'a Windows

Kamora hore ts'ebetso e phethe, hokela boto ea adaptara ea USB ka har'a sesebelisoa sa nts'etsopele komporong, tobetsa ka ho le letona [Khomphuta ea ka], khetha [Properties], 'me ka har'a sehokelo sa [System] se butsoeng, khetha [Motsamaisi oa Sesebelisoa] ho menu e letšehali. ho kenya E-ea ho mookameli oa lisebelisoa, ho atolosa [Li-Ports], u ka bona nomoro ea serial port e lumellanang le adaptara ea USB ea CP2102 e tsebahalang, ke hore, mokhanni o kenngoa ka katleho, 'me setšoantšo se ka tlase ke COM4.

Ho kenya mokhanni tlas'a Windows

Ho sebelisa LdsPointCloudViewsoftware e tlas'a Windows

The point cloud visualization software LdsPointCloudViewe ka bonts'a data e hlahlobiloeng ea sehlahisoa sena ka nako ea nnete, 'me bahlahisi ba ka sebelisa software ena ho bona ka mahlo lipapiso tsa sehlahisoa sena. Pele o sebelisa software ena, hoa hlokahala ho khetholla hore mokhanni oa boto ea adaptara ea USB ea sehlahisoa sena o kentsoe ka katleho, mme sehlahisoa se hokahantsoe le koung ea USB ea Windows system PC, ebe o tobetsa habeli LdsPointCloud.Viewer.exe, 'me u khethe mohlala oa sehlahisoa o lumellanang le nomoro ea boema-kepe, tobetsa konopo ea "Start point cloud refresh" joalokaha ho bontšitsoe setšoantšong se latelang.

Ho sebelisa LdsPointCloudViewsoftware e tlas'a Windows
Setšoantšong se ka holimo,

'Lebelo' le emetse maqhubu a ho hlahloba lidar, yuniti: Hz;
'Rate' e emela sekhahla sa tharollo ea pakete ea data ea lidar;
'E nepahetseng' e emela ntlha e nepahetseng ea hore sekoahelo se lekanye selikalikoe.

Sehlahisoa sa 3D mohlala file

Unzip ea LiDAR_LD19_3D_stp_Vl.0 file ho fumana mohlala oa 3D file ka sebopeho sa STP.

Ts'ebetso e thehiloeng ho ROS tlasa Linux

Kenyelletso le ho kenya tikoloho ea ROS

ROS (Robot Operating System) ke sesebelisoa se bulehileng sa meta-operating bakeng sa liroboto le li-middleware tse hahiloeng holim'a Linux. E fana ka litšebeletso tse lebeletsoeng tsamaisong ea ts'ebetso, ho kenyeletsoa ho tlosoa ha hardware, taolo ea lisebelisoa tsa boemo bo tlaase, ts'ebetsong ea mesebetsi e sebelisoang hangata, molaetsa o fetang pakeng tsa lits'ebetso, le tsamaiso ea liphutheloana. E boetse e fana ka lisebelisoa le mesebetsi ea laebrari e hlokahalang ho fumana, ho bokella, ho ngola le ho tsamaisa khoutu ho pholletsa le likhomphutha. Bakeng sa mehato ea ho kenya mofuta o mong le o mong oa ROS, ka kopo sheba ho ROS ea semmuso websebaka: http://wiki.ros.org/ROS/lnstallation

Sephutheloana sa tšebetso sa ROS sa sehlahisoa sena se ts'ehetsa mefuta le tikoloho tse latelang:

  • ROS Kinetic(Ubuntu16.04);
  • ROS Melodic(Ubuntu18.04);
  • ROS Noetic(Ubuntu20.04).

Fumana khoutu ea mohloli oa Pakete ea ROS

Khoutu ea mohloli oa sephutheloana sa tšebetso ea ROS ea sehlahisoa sena e tšoaretsoe sebakeng sa polokelo ea Github. U ka khoasolla khoutu ea mohloli oa master kapa lekala le ka sehloohong ka ho fihlella sehokelo sa marang-rang sa polokelo, kapa oa e jarolla ka sesebelisoa sa git.Basebelisi ba ka boela ba ntša ka ho toba SDK LD19 > ldlidar stl ros.zi ho ea tseleng e latelang bakeng sa tšebeliso.

  1. Sebaka sa polokelo webaterese ea sebaka
    ► https://github.com/DFRobotdl/ldlidarstlros
  2. ts'ebetso ea ho jarolla sesebelisoa sa git
# Qala ka ho bula sebopeho sa terminal, u ka sebelisa konopo ea ctrl+alt+t

# Haeba sistimi ea Ubuntu eo u e sebelisang e sena sesebelisoa sa git, u ka e kenya joalo ka

e latela:

$ sudo apt-get kenya git

# Khoasolla khoutu ea mohloli oa sephutheloana sa tšebetso sa ROS:

$ cd ~

$ mkdir -p ldlidar_ros_ws/src

$ cd ~/ldlidar_ros_ws/src

$git clone https://github.com/DFRobotdl/ldlidar_stl_ros.git

#kapa

$ unzip ldlidar_stl_ros.zip

Beha litumello tsa sesebelisoa

Taba ea pele, hokela lidar ho mojule oa adaptara ea rona (CP2102 adapter), ebe o hokela mojule komporong. Ebe u bula terminal tlas'a sistimi ea ubuntu ebe u kena Is /dev/ttyUSB* ho hlahloba hore na sesebelisoa sa serial se hokahane. Haeba sesebelisoa sa serial port se fumanoa, sebelisa sesebelisoa sa sudo ch mod 777 /dev/ttyUSB* laela ho e fa matla a phahameng ka ho fetisisa, ke hore, fana ka file mong'a, sehlopha, le basebelisi ba bang bala, ngola le ho phethahatsa tumello, joalokaha ho bontšitsoe setšoantšong se latelang.

Beha litumello tsa sesebelisoa

Qetellong, fetola port_name boleng ho ld19.launch file ho ~/ldldiar_ros_ws/src/ldlidar_stl_ros/launch/ directory. Nka sekoaelo se kentsoeng tsamaisong joalo ka /dev/ttyUSB0 joalo ka example, joalokaha ho bontšitsoe ka tlase.

$ nano ~/Jdlidar _ros_ ws/src/ldldiar _stl_ros/launch/ld19.launch

Beha litumello tsa sesebelisoa

Mohlophisi oa Linux nano: Ctrl + 0 e boloka e hlophisitsoeng file; Ctrl + X e tsoa ho sebopeho sa ho hlophisa.

Litlhophiso tsa ho aha le tikoloho

  1. Sebelisa sistimi ea pokello ea catkin ho bokella le ho aha sephutheloana sa ts'ebetso ea sehlahisoa:
    $ cd ~/fdlidauos~ws
    . $ catkin_make
  2. Litlhophiso tse fapaneng tsa tikoloho ea sephutheloana sa tšebetso:
    Ka mor'a hore pokello e phethoe, u lokela ho eketsa e loketseng files e hlahisoang ke ho bokella mefuta e fapaneng ea tikoloho, e le hore tikoloho ea ROS e ka li lemoha. Taelo ea ho phethahatsa e tjena. Taelo ena ke ho eketsa maemo a tikoloho ka nakoana ho terminal, ho bolelang hore haeba o bula terminal e ncha hape, o hloka ho e etsa hape. Taelo e latelang.
$ cd ~/tdlidar_ros_ws
$ mohloli oa nts'etsopele/setup.bash

E le hore u se ke ua hlola u hloka ho phethahatsa taelo e ka holimo ho eketsa mefuta e fapaneng ea tikoloho ka mor'a ho bula terminal hape, u ka etsa tse latelang.

Mohloli oa $ echo ~//dlidar_ros_ws/devel/setup.bash » ~/bashrc
$ mohloli ~/bashrc

Matha node 'me Rviz e bonts'e leru la ntlha ea LiDAR

Qala node ea lidar 'me u phethe taelo e latelang.

$ roslaunch ldlidar_stl_ros ld19.launch

Qala node ea lidar 'me u bontše data ea leru la lidar ho Rviz, etsa taelo e latelang.

# haeba ROS_DISTRO ka 'kinetic' kapa 'melodic'
$ ros/unch ldlidar_st/_ros viewer_ld19_kinetic_me/odic.launch
# haeba ROS_DISTRO ho 'noetic'
$ ros/unch ldlidar_st/_ros viewer_ld19_noetic.launch
Ts'ebetso e thehiloeng ho ROS2 tlasa Linux

Kenyelletso le ho kenya tikoloho ea ROS2

ROS (Robot Operating System) ke sesebelisoa se bulehileng sa meta-operating bakeng sa liroboto le li-middleware tse hahiloeng holim'a Linux. E fana ka litšebeletso tse lebeletsoeng tsamaisong ea ts'ebetso, ho kenyeletsoa ho tlosoa ha hardware, taolo ea lisebelisoa tsa boemo bo tlaase, ts'ebetsong ea mesebetsi e sebelisoang hangata, molaetsa o fetang pakeng tsa lits'ebetso, le tsamaiso ea liphutheloana. E boetse e fana ka lisebelisoa le mesebetsi ea laebrari e hlokahalang ho fumana, ho bokella, ho ngola le ho tsamaisa khoutu ho pholletsa le likhomphutha. Sechaba sa liroboto le sa ROS se fetohile haholo ho tloha ha ROS e qala ka 2007. Sepheo sa morero oa ROS2 ke ho ikamahanya le liphetoho tsena, ho sebelisa matla a ROSl le ho ntlafatsa mefokolo. Bakeng sa mehato ea ho kenya ROS2, ka kopo sheba ofisiri websebaka sa ROS2: https://docs.ros.org/en/foxy/lnstallation.html
Sephutheloana sa tšebetso sa ROS2 sa sehlahisoa sena se tšehetsa tšebeliso ea mofuta oa foxy oa ROS2 le ka holimo.

Fumana khoutu ea mohloli oa Pakete ea ROS2

Khoutu ea mohloli oa sephutheloana sa ts'ebetso sa ROS2 sa sehlahisoa sena se ts'oaroa ho polokelo ea Github. U ka khoasolla khoutu ea mohloli oa master kapa lekala le ka sehloohong ka ho fihlella sehokelo sa marang-rang sa polokelo, kapa oa se khoasolla ka sesebelisoa sa git.Basebelisi le bona ba ka hula ka kotloloho. SDK LD19 > ldlidar_stl_ros2.ziR ho tsela e latelang ho sebelisoa.

  1. Sebaka sa polokelo webaterese ea sebaka
    ► https://github.com/DFRobotdl/ldlidarstlros2
  2. ts'ebetso ea ho jarolla sesebelisoa sa git
# Qala ka ho bula sebopeho sa terminal, o ka sebelisa senotlolo sa sekhutlo sa ctrl+alt+t
# Haeba sistimi ea Ubuntu eo u e sebelisang e sena sesebelisoa sa git, u ka e kenya joalo ka
e latela:
$ sudo apt-get kenya git
# Khoasolla khoutu ea mohloli oa sehlahisoa sa tšebetso sa ROS2:
$ cd ~
$ mkdir -p ldlidar_ros2_ ws/src
$ cd ~/ldlidar_ros2_ws/src
$ git clone https://github.com/DFRobotdl/ldlidar_st/_ros2.git
#kapa
$ unzip ldlidar_st/_ros2.zip

Beha litumello tsa sesebelisoa

Taba ea pele, hokela lidar ho mojule oa adaptara ea rona (CP2102 adapter), ebe o hokela mojule komporong. Ebe u bula terminal tlas'a sistimi ea ubuntu ebe u kena Is /dev/ttyUSB* ho hlahloba hore na sesebelisoa sa serial se hokahane. Haeba sesebelisoa sa serial port se fumanoa, sebelisa sesebelisoa sa sudo chmod 777 /dev/ttyUSB* laela ho e fa matla a phahameng ka ho fetisisa, ke hore, fana ka file mong'a, sehlopha, le basebelisi ba bang bala, ngola le ho phethahatsa tumello, joalokaha ho bontšitsoe setšoantšong se latelang.

Beha litumello tsa sesebelisoa

Qetellong, fetola port_name boleng ho ld19.launch.py file ho ~/ldldiar_ros2_ws/src/ldlidar_stl_ros2/launch/ directory. Nka sekoahelo se kentsoeng tsamaisong e le /dev/ttyUSBO joalo ka mohlalaample, joalokaha ho bontšitsoe ka tlase.

$ nano ~ /ldlidar _ros2_ ws/src/ldldiar_stl_ros2/launch/ld19.launch.py

Beha litumello tsa sesebelisoa

Mohlophisi oa Linux nano: Ctrl + 0 e boloka e hlophisitsoeng file; Ctrl + X e tsoa ho sebopeho sa ho hlophisa.

Litlhophiso tsa ho aha le tikoloho

  1. Sebelisa sistimi ea pokello ea colcon ho bokella le ho aha sephutheloana sa ts'ebetso ea sehlahisoa:
    $ cd ~/fdlidauos2~ws
    . $ co/con haha
  2. Litlhophiso tse fapaneng tsa tikoloho ea sephutheloana sa tšebetso:
    Ka mor'a hore pokello e phethoe, u lokela ho eketsa e loketseng files e hlahisoang ke ho bokella mefuta e fapaneng ea tikoloho, e le hore tikoloho ea ROS2 e ka tsejoa. Taelo ea ho phethahatsa e tjena. Taelo ena ke ho eketsa maemo a tikoloho ka nakoana ho terminal, ho bolelang hore haeba o bula terminal e ncha hape, o hloka ho e etsa hape. Taelo e latelang.
$ cd ~/Jdlidar_ros2_ws
$ mohloli kenya/setup.bash

E le hore u se ke ua hlola u hloka ho phethahatsa taelo e ka holimo ho eketsa mefuta e fapaneng ea tikoloho ka mor'a ho bula terminal hape, u ka etsa tse latelang.

$ echo mohloli ~/Jdlidar_ros2_ws/install/setup.bash » ~j.bashrc
$ mohloli ~j.bashrc

Matha node 'me Rviz2 e bonts'a leru la ntlha ea LiDAR

Qala node ea lidar 'me u phethe taelo e latelang.

$ ros2 qala ldlidar_stl_ros2 ld19.launch.py

Qala node ea lidar 'me u bontše leru la lidar point ho Rviz2, etsa taelo e latelang.

$ ros2 qala ldlidar_stl_ros2 viewer_ld19.launch.py
Litaelo tsa ho sebelisa SDK tlas'a Linux

Fumana khoutu ea mohloli oa SDK

Khoutu ea mohloli oa Linux SOK ea sehlahisoa sena e ts'oaretsoe ho polokelo ea Github. U ka khoasolla khoutu ea mohloli oa master kapa lekala le ka sehloohong ka ho fihlella sehokelo sa marang-rang sa polokelo, kapa oa e jarolla ka gittool. Basebedisi ba ka boela ba ntša ka ho toba SOK L019 > ldlidar stl sdk.zip ho tsela e latelang ho sebelisoa.

  1. Sebaka sa polokelo webaterese ea sebaka
    ► https://github.com/OFRobotdl/ldlidarstlsdk
  2. ts'ebetso ea ho jarolla sesebelisoa sa git
# Qala ka ho bula sebopeho sa terminal, o ka sebelisa senotlolo sa sekhutlo sa ctrl+alt+t
# Haeba sistimi ea Ubuntu eo u e sebelisang e sena sesebelisoa sa git, u ka e kenya joalo ka
e latela:
$ sudo apt-get kenya git
# Khoasolla khoutu ea mohloli:
$ cd ~
$ mkdir ldlidar_ws
$ cd ~/ldlidar_ws
$ git clone https://github.com/DFRobotdl/ldlidar_stl_sdk.git
#kapa
$ unzip ldlidar_stl_sdk.zip

Beha litumello tsa sesebelisoa

Taba ea pele, hokela lidar ho mojule oa adaptara ea rona (CP2102 adapter}, ebe o hokela mojule komporong, ebe o bula terminal tlasa ubuntu system ebe o kenya Is /dev/ttyUSB* ho hlahloba hore na sesebelisoa sa serial se hokahane. Haeba sesebelisoa sa serial port se fumanoa, sebelisa sesebelisoa sa sudo chmod 777 /dev/ttyUSB* laela ho e fa matla a phahameng ka ho fetisisa, ke hore, fana ka file mong'a, sehlopha, le basebelisi ba bang bala, ngola le ho phethahatsa tumello, joalokaha ho bontšitsoe setšoantšong se latelang.

Beha litumello tsa sesebelisoa

Haha

Khoutu ea mohloli e ngotsoe ka puo ea C++11 e tloaelehileng ea C++ le puo ea C99 e tloaelehileng ea C. Sebelisa CMake, GNU-make, GCC le lisebelisoa tse ling ho bokella le ho aha khoutu ea mohloli. Haeba u sebelisa sistimi ea Ubuntu ntle le lisebelisoa tse kaholimo tse kentsoeng, u ka etsa taelo e latelang ho phethela ho kenya.

$ sudo apt-get install build-essential cmake

Haeba lisebelisoa tse bontšitsoeng ka holimo li se li le teng tsamaisong, etsa se latelang.

$ cd ~/ldlidar_ ws/ldlidar_stl_sdk
# Haeba foldara ea kaho e le sieo bukeng ea ldlidar_st/_sdk, e hloka ho etsoa
$ mkdir haha
$ cd mohaho
$cmake .. /
$ etsa

Matha lenaneo la binary

$ cd ~/ldlidar_ ws/ldlidar_st/_sdk/build
$ ./ldlidar_stl
# mohlala: ./ldlidar_stl /dev/ttyUSBO
Litaelo tsa ho sebelisa ROS e thehiloeng ho Raspberry Pi SBC

Ka kopo sheba bukana ea "LD19 Raspberry Pi Raspbian User manual_ V2.9.pdf)) ho fumana lintlha.
Ntle le moo, re fane ka setšoantšo sa tloaelo bakeng sa Raspberry Pi bakeng sa sehlahisoa sena, 'me thuto ea eona ea ts'ebeliso e tjena:

Selelekela sa seipone

  1. Sebopeho sa seipone:
    • mofuta oa raspberrypi raspbian OS: 2020-08-20-raspios-buster-armhf
    • Mofuta oa tikoloho oa ROS: ROS melodic
    • Sephutheloana sa LiDAR LD19 ROS
  2. Ts'ehetso ea Hardware:
    • raspberrypi 3B+ SBC , raspberrypi 4B SBC
    • Karete ea SD e boholo ho feta kapa e lekanang le 16GB

Tšebeliso ea seipone

  1. Khoasolla setšoantšo file:
    • Khoasolla sehokelo sa 1: https://pan.baidu.com/s/lfvTfXBbWC9ESXNNUY5aJhw 1Jt:&:7k8a
    • Khoasolla sehokelo sa 2:
    https://drive.google.com/file/d/lylMTFGRZ9cRcy3Njvf10cxDo4Wy3tfCB/view?usp=sharing
    • Setšoantšo file lebitso ke 2022-03-24-raspios-buster-armhf-ldrobot-customization.img.xz
  2. Ngola setšoantšo file ho karete ea SD le ho tsamaisa sistimi:
    Ngola ka sesebelisoa sa Win32Disklmager, se kenye ka har'a slot ea karete ea Raspberry Pi ka mor'a ho ngola ka katleho, le matla tsamaisong.
    1. Lintlha tse amanang le ho kena tsamaisong
      • Username: pi
      • Lebitso la moamoheli: raspberrypi
      • Lebatooa la ho feta pi
    2. Ho tsamaisa node ea lidar
#stepl: Etsa bonnete ba hore sesebelisoa sa lidar se hokahane le raspberrypi SBC, 'me u bule terminal ka ho
Ctrl+Alt+T.
#mohato oa2: Khutlisetsa sesebelisoa sa boema-kepe file e tsamaellanang le sesebelisoa sa radar ka Is-I/dv1i, fana ka phethahatso
tumello, ebe u fetola lanuch file mekhahlelo. Nka boema-kepe file e tsamaellanang le sesebedisoa sa lidar
joalo ka /dev/ttyUSB0 joalo ka example.
$ sudo chmod 777 /dev/ttyUSB0
# Hlokomela: Ho khothalletsoa ho nchafatsa sephutheloana sa mokhanni oa Lldar ROS ka seiponeng ka lekhetlo la pele
$ cd ~ && cd ~/ldlidar_ros_ws/src/
$ rm -rf ldlidar_stl_ros/
$ git clone https://github.com/DFRobotdl/ldlidar_stl_ros.git

Qetellong, fetola port_name boleng ho ld19.launch file ho ~/ldldiar_ros_ws/src/ldlidar_stl_ros/launch/ directory. Nka sekoahelo se kentsoeng tsamaisong e le /dev/ttyUSBO joalo ka mohlalaample, joalokaha ho bontšitsoe ka tlase.

$ nano ~/ldlidar _ros_ ws/src/ldldiar _stl_ros/launch/ld19.launch

Beha litumello tsa sesebelisoa

Qala node ea lidar 'me u phethe taelo e latelang.

$ roslaunch ldlidar_stl_ros ld19.launch

Qala node ea lidar 'me u bontše data ea leru la lidar ho Rviz, etsa taelo e latelang.

$ ros/unch ldlidar_st/_ros viewer_ld19_kinetic_me/odic./aunch

TS'ELISO TS'OANE

phetolelo letsatsi la ntlafatso fetola the dikahare
1.0 2020-09-01 Pōpo ea pele
1.1 2021-01-15 Tlosa mosebetsi oa Transform()
 

2.0

  

2022-02-27

 E kenyellelitse litaba tsa li-ion tsa li-kit tsa nts'etsopele
 

2.1

  

2022-03-06

 Eketsa moralo oa litšoantšo oa tokomane le ho ntlafatsa sebopeho sa litaba
 

2.2

  

2022-03-09

 Fetola sehlooho sa sekoaelo sa tokomane le karolo ea litaba
2.3 2022-03-15 Lekola liphatlalatso tse nang le mathata litokomaneng
2.4 2022-04-02
  1. Fetola Logo;
  2. E kenyellelitse 30 ea mohlala file kenyelletso ea lisebelisoa;
  3. Kenya kenyelletso ea tšebeliso ea setšoantšo sa Raspberry Pi;
  4. Lokisa phoso tlhalosong ea tokomane
2.5 2022-06-25
  1. Ts'ehetso e ekelitsoeng bakeng sa mofuta oa ROS2 Humble;
  2. Fetola Rviz, Rviz2 ho hlahisa litaba tse amehang tsa leru la laser point;
  3. Fetola litaba tse amehang tsa komporo ea Windows point cloud host

 

Litokomane / Lisebelisoa

DFRobot LiDAR LD19 Laser Sensor Kit [pdf] Buka ea Taelo
LiDAR LD19 Laser Sensor Kit, LiDAR LD19, Laser Sensor Kit, Sensor Kit

Litšupiso

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