Hands-On ROS for Robotics Programming

Integrating with the remote PC

As with any other hardware we integrate with ROS, we follow the standard procedure of cloning the package supplied by the manufacturer and building it with our workspace:

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

By running catkin_make, the ydlidar_client and ydlidar_node nodes will be available.

This code is also bundled with the rest of the YDLIDAR models at https://github.com/YDLIDAR/ydlidar_ros. For a specific model, you just have to select the corresponding branch, X4. In our case, this is git clone https://github.com/YDLIDAR/ydlidar_ros -b X4 --single-branch.

After connecting X4 to a USB port of the laptop, change the permissions in order to access the new LDS: ...