[update]版本号v2.3.3，更改点为: 1. 修改输出SDK版本号的方式;

2. 添加名空间、修改头文件包含使更具移植性;
3. 修改脚本

include/ldlidar_driver/cmd_interface_linux.cpp

@@ -19,15 +19,7 @@
 
 #include "cmd_interface_linux.h"
 
-#include <errno.h>
-#include <fcntl.h>
-#include <memory.h>
-#include <string.h>
-#include <sys/file.h>
-#include <termios.h>
-#include <unistd.h>
-
-#include <iostream>
+namespace ldlidar {
 
 #define MAX_ACK_BUF_LEN 4096
 
@@ -55,8 +47,8 @@ bool CmdInterfaceLinux::Open(std::string &port_name) {
     return false;
   }
 
-  options.c_cflag |= (tcflag_t)(CLOCAL | CREAD | CS8 | CRTSCTS);
-  options.c_cflag &= (tcflag_t) ~(CSTOPB | PARENB | PARODD);
+  options.c_cflag |= (tcflag_t)(CLOCAL | CREAD | CS8);
+  options.c_cflag &= (tcflag_t) ~(CSTOPB | PARENB);
   options.c_lflag &= (tcflag_t) ~(ICANON | ECHO | ECHOE | ECHOK | ECHONL |
                                   ISIG | IEXTEN);  //|ECHOPRT
   options.c_oflag &= (tcflag_t) ~(OPOST);
@@ -166,5 +158,6 @@ void CmdInterfaceLinux::RxThreadProc(void *param) {
   delete[] rx_buf;
 }
 
+} // namespace ldlidar
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

include/ldlidar_driver/include/cmd_interface_linux.h

@@ -21,8 +21,15 @@
 #define __LINUX_SERIAL_PORT_H__
 
 #include <inttypes.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <memory.h>
 #include <string.h>
+#include <sys/file.h>
+#include <termios.h>
+#include <unistd.h>
 
+#include <iostream>
 #include <atomic>
 #include <condition_variable>
 #include <functional>
@@ -31,6 +38,8 @@
 #include <thread>
 #include <vector>
 
+namespace ldlidar {
+
 class CmdInterfaceLinux {
  public:
   CmdInterfaceLinux();
@@ -59,6 +68,8 @@ class CmdInterfaceLinux {
   static void RxThreadProc(void *param);
 };
 
+} // namespace ldlidar
+
 #endif  //__LINUX_SERIAL_PORT_H__
 
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF

include/ldlidar_driver/include/lipkg.h

@@ -22,19 +22,13 @@
 #ifndef __LIPKG_H
 #define __LIPKG_H
 
-// #include "ros_api.h"
-#include <stdint.h>
-#include <stdio.h>
-
-#include <iostream>
-#include <vector>
-#include <mutex>
-#include <functional>
-#include <string>
 #include <chrono>
 
 #include "cmd_interface_linux.h"
 #include "pointdata.h"
+#include "tofbf.h"
+
+namespace ldlidar {
 
 enum {
   PKG_HEADER = 0x54,
@@ -64,6 +58,8 @@ class LiPkg {
 
   LiPkg();
   ~LiPkg();
+  // get sdk pack version Number
+  std::string GetSdkVersionNumber();
   // get Lidar spin speed (Hz)
   double GetSpeed(void); 
   // get lidar spind speed (degree per second) origin
@@ -81,6 +77,7 @@ class LiPkg {
   Points2D GetLaserScanData(void);
 
  private:
+  std::string sdk_pack_version_;
   uint16_t timestamp_;
   double speed_;
   long error_times_;
@@ -97,9 +94,11 @@ class LiPkg {
   bool Parse(const uint8_t* data, long len);  
   // combine stantard data into data frames and calibrate
   bool AssemblePacket();  
-  void FillLaserScanData(Points2D& src);
+  void SetLaserScanData(Points2D& src);
 };
 
+} // namespace ldlidar
+
 #endif  //__LIPKG_H
 
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF

include/ldlidar_driver/include/pointdata.h

@@ -26,6 +26,11 @@
 #include <iostream>
 #include <vector>
 
+namespace ldlidar {
+
+#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
+#define RADIAN_TO_ANGLED(angle) ((angle)*180000 / 3141.59)
+
 struct PointData {
   // Polar coordinate representation
   float angle;         // Angle ranges from 0 to 359 degrees
@@ -52,8 +57,7 @@ struct PointData {
 
 typedef std::vector<PointData> Points2D;
 
-#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
-#define RADIAN_TO_ANGLED(angle) ((angle)*180000 / 3141.59)
+} // namespace ldlidar
 
 #endif  // _POINT_DATA_H_
 

include/ldlidar_driver/include/tofbf.h

@@ -22,12 +22,14 @@
 #ifndef __TOFBF_H_
 #define __TOFBF_H_
 
-#include <stdint.h>
+#include <math.h>
 
-#include <vector>
+#include <algorithm>
 
 #include "pointdata.h"
 
+namespace ldlidar {
+
 class Tofbf {
  private:
   const int kIntensityLow = 15;  // Low intensity threshold
@@ -45,6 +47,8 @@ class Tofbf {
   ~Tofbf();
 };
 
+} // namespace ldlidar
+
 #endif  //__TOFBF_H_
 
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF

include/ldlidar_driver/lipkg.cpp

@@ -21,12 +21,7 @@
 
 #include "lipkg.h"
 
-#include <math.h>
-#include <string.h>
-
-#include <algorithm>
-
-#include "tofbf.h"
+namespace ldlidar {
 
 static const uint8_t CrcTable[256] = {
     0x00, 0x4d, 0x9a, 0xd7, 0x79, 0x34, 0xe3, 0xae, 0xf2, 0xbf, 0x68, 0x25,
@@ -62,7 +57,8 @@ uint8_t CalCRC8(const uint8_t *data, uint16_t data_len) {
 }
 
 LiPkg::LiPkg()
-    : timestamp_(0),
+    : sdk_pack_version_("v2.3.3"),
+      timestamp_(0),
       speed_(0),
       error_times_(0),
       is_frame_ready_(false){
@@ -73,6 +69,10 @@ LiPkg::~LiPkg() {
 
 }
 
+std::string LiPkg::GetSdkVersionNumber() {
+  return sdk_pack_version_;
+}
+
 bool LiPkg::AnalysisOne(uint8_t byte) {
   static enum {
     HEADER,
@@ -170,7 +170,7 @@ bool LiPkg::AssemblePacket() {
       tmp = tofFilter.NearFilter(data);
       std::sort(tmp.begin(), tmp.end(), [](PointData a, PointData b) { return a.angle < b.angle; });
       if (tmp.size() > 0) {
-        FillLaserScanData(tmp);
+        SetLaserScanData(tmp);
         SetFrameReady();
         frame_tmp_.erase(frame_tmp_.begin(), frame_tmp_.begin() + count);
         return true;
@@ -224,10 +224,11 @@ Points2D LiPkg::GetLaserScanData(void) {
   return laser_scan_data_;
 }
 
-void LiPkg::FillLaserScanData(Points2D& src) {
+void LiPkg::SetLaserScanData(Points2D& src) {
   std::lock_guard<std::mutex> lg(mutex_lock2_);
   laser_scan_data_ = src;
 }
 
+} // namespace ldlidar
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

include/ldlidar_driver/tofbf.cpp

@@ -21,10 +21,7 @@
 
 #include "tofbf.h"
 
-#include <math.h>
-
-#include <algorithm>
-#include <iostream>
+namespace ldlidar {
 
 /**
  * @brief Construct a new Tofbf:: Tofbf object
@@ -145,5 +142,6 @@ std::vector<PointData> Tofbf::NearFilter(
   return normal;
 }
 
+} // namespace ldlidar
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

src/publish_node/main.cpp

@@ -21,7 +21,7 @@
 #include "ros_api.h"
 #include "lipkg.h"
 
-void  ToLaserscanMessagePublish(Points2D& src, LiPkg* commpkg, LaserScanSetting& setting, ros::Publisher& lidarpub);
+void  ToLaserscanMessagePublish(ldlidar::Points2D& src, ldlidar::LiPkg* commpkg, LaserScanSetting& setting, ros::Publisher& lidarpub);
 
 int main(int argc, char **argv) {
   ros::init(argc, argv, "ldldiar_publisher");
@@ -40,22 +40,23 @@ int main(int argc, char **argv) {
   nh_private.param("enable_angle_crop_func", setting.enable_angle_crop_func, bool(false));
   nh_private.param("angle_crop_min", setting.angle_crop_min, double(0.0));
   nh_private.param("angle_crop_max", setting.angle_crop_max, double(0.0));
-
-  ROS_INFO("[ldrobot] SDK Pack Version is v2.3.2");
+
+  ldlidar::LiPkg *lidar_commh = new ldlidar::LiPkg();
+  ldlidar::CmdInterfaceLinux *cmd_port = new ldlidar::CmdInterfaceLinux();
+
+  ROS_INFO_STREAM("[ldrobot] SDK Pack Version is: " << lidar_commh->GetSdkVersionNumber());
   ROS_INFO("[ldrobot] <product_name>: %s,<topic_name>: %s,<port_name>: %s,<frame_id>: %s", 
     product_name.c_str(), topic_name.c_str(), port_name.c_str(), setting.frame_id.c_str());
 
   ROS_INFO("[ldrobot] <laser_scan_dir>: %s,<enable_angle_crop_func>: %s,<angle_crop_min>: %f,<angle_crop_max>: %f",
    (setting.laser_scan_dir?"Counterclockwise":"Clockwise"), (setting.enable_angle_crop_func?"true":"false"), setting.angle_crop_min, setting.angle_crop_max);
 
-  LiPkg *lidar_commh = new LiPkg();
-  CmdInterfaceLinux *cmd_port = new CmdInterfaceLinux();
-
   if (port_name.empty()) {
     ROS_ERROR("[ldrobot] input <port_name> param is null");
     exit(EXIT_FAILURE);
   }
-  cmd_port->SetReadCallback(std::bind(&LiPkg::CommReadCallback, lidar_commh, std::placeholders::_1, std::placeholders::_2));
+
+  cmd_port->SetReadCallback(std::bind(&ldlidar::LiPkg::CommReadCallback, lidar_commh, std::placeholders::_1, std::placeholders::_2));
 
   if (cmd_port->Open(port_name)) {
     ROS_INFO("[ldrobot] open %s device %s is success", product_name.c_str(), port_name.c_str());
@@ -67,16 +68,18 @@ int main(int argc, char **argv) {
   ros::Publisher lidar_pub = nh.advertise<sensor_msgs::LaserScan>(topic_name, 10);  // create a ROS topic
 
   ros::Rate r(10); //10hz
+
   auto last_time = std::chrono::steady_clock::now();
+
   while (ros::ok()) {
     if (lidar_commh->IsFrameReady()) {
       lidar_commh->ResetFrameReady();
       last_time = std::chrono::steady_clock::now();
-      Points2D laserscandata = lidar_commh->GetLaserScanData();
+      ldlidar::Points2D laserscandata = lidar_commh->GetLaserScanData();
       ToLaserscanMessagePublish(laserscandata, lidar_commh, setting, lidar_pub);
     }
 
-    if (std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now()-last_time).count() > 1000) { // 数据发布超时或者串口设备拔出处理
+    if (std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now()-last_time).count() > 1000) { 
 			ROS_ERROR("[ldrobot] lidar pub data is time out, please check lidar device");
 			exit(EXIT_FAILURE);
 		}
@@ -93,7 +96,7 @@ int main(int argc, char **argv) {
   return 0;
 }
 
-void  ToLaserscanMessagePublish(Points2D& src, LiPkg* commpkg, LaserScanSetting& setting, ros::Publisher& lidarpub) {
+void  ToLaserscanMessagePublish(ldlidar::Points2D& src, ldlidar::LiPkg* commpkg, LaserScanSetting& setting, ros::Publisher& lidarpub) {
   float angle_min, angle_max, range_min, range_max, angle_increment;
   float scan_time;
   ros::Time start_scan_time;

ws_deploy.sh

@@ -15,7 +15,8 @@ else
     cp ./launch ./${floder_name} -a
     cp ./rviz  ./${floder_name} -a
     cp ./src ./${floder_name} -a
-    cp ./listen ./${floder_name} -a
+    cp ./include ./${floder_name} -a
+    cp ./scripts ./${floder_name} -a
     zip -r ${floder_name}.zip ./${floder_name}
     rm -rf ./${floder_name}/
     echo "create ./${floder_name}.zip "