Hands-On ROS for Robotics Programming

Integrating with Raspberry Pi

We will repeat the process we described in the preceding section, Setting up YDLIDAR, in order to connect the LDS to the Raspberry Pi. After attaching the sensor to a USB port of the Raspberry Pi, open a Terminal in the robot and follow these steps:

1. Clone the repository and rebuild the workspace:

$ cd catkin_ws/src$ git clone https://github.com/EAIBOT/ydlidar$ cd ..$ catkin_make

2. When you've connected YDLIDAR to a USB port, check that the connection has been established properly:

$ ls -la /dev | grep USB    crw-rw----  1 root dialout 188,   0 ene 28  2018 ttyUSB0

3. Then, change the permissions so that your normal user, pi, has access to the new device:

$ sudo chown pi:dialout /dev/ttyUSB0

4. Now, initiate the device: ...