[update]内容更新点如下:

1. 增加launch文件启动激光雷达节点并显示数据在Rviz上的功能; 2. 更新README
ldrobotSensorTeam · Apr 30, 2022 · 78da1d3 · 78da1d3
1 parent 426bf63
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diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -5,7 +5,8 @@
             "includePath": [
                 "${workspaceFolder}/**",
                 "/usr/include/**",
-                "/opt/ros/kinetic/include/**"
+                "/opt/ros/kinetic/include/**",
+                "/opt/ros/noetic/include/**"
             ],
             "defines": [],
             "compilerPath": "/usr/bin/g++",

diff --git a/README.md b/README.md
@@ -35,9 +35,9 @@ $ sudo chmod 777 /dev/ttyUSB0
 <!-- ldldiar message publisher node -->
  <node name="LD06" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_node" output="screen" >
   <param name="product_name" value="LDLiDAR_LD06"/>
-  <param name="topic_name" value="LiDAR/LD06"/>
+  <param name="topic_name" value="scan"/>
   <param name="port_name" value ="/dev/ttyUSB0"/>
-  <param name="frame_id" value="lidar_frame"/>
+  <param name="frame_id" value="base_laser"/>
   <!-- Set laser scan directon: -->
   <!--    1. Set counterclockwise, example: <param name="laser_scan_dir" type="bool" value="true"/> -->
   <!--    2. Set clockwise,        example: <param name="laser_scan_dir" type="bool" value="false"/> -->
@@ -54,8 +54,11 @@ $ sudo chmod 777 /dev/ttyUSB0
  </node>
 <!-- ldlidar message subscriber node -->
  <node name="ListenLD06" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_listen_node" output="screen">
-  <param name="topic_name" value="LiDAR/LD06"/>
+  <param name="topic_name" value="scan"/>
  </node>
+ <!-- publisher tf transform, parents frame is base_link, child frame is base_laser -->
+ <!-- args="x y z yaw pitch roll parents_frame_id child_frame_id period_in_ms"-->
+ <node name="base_to_laser" pkg="tf" type="static_transform_publisher"  args="0.0 0.0 0.18 0 0.0 0.0 base_link base_laser 50"/>
 </launch>
 ```
 ## 2. 编译方法
@@ -87,30 +90,44 @@ $ catkin_make
 ### 3.2. 启动激光雷达节点
 
 - 产品型号为 LDROBOT LiDAR LD06
-
+  - 启动ld06 lidar node:
+  ``` bash
+  $ roslaunch ldlidar_stl_ros ld06.launch
+  ```
+  - 启动ld06 lidar node并显示激光数据在Rviz上:
   ``` bash
-  roslaunch ldlidar_stl_ros ld06.launch
+  # if ROS_DISTRO in 'kinetic' or 'melodic'
+  $ roslaunch ldlidar_stl_ros viewer_ld06_kinetic_melodic.launch
+  # if ROS_DISTRO in 'noetic'
+  $ roslaunch ldlidar_stl_ros viewer_ld06_noetic.launch
   ```
 
 - 产品型号为 LDROBOT LiDAR LD19
-
+  - 启动ld19 lidar node:
   ``` bash
-  roslaunch ldlidar_stl_ros ld19.launch
+  $ roslaunch ldlidar_stl_ros ld19.launch
+  ```
+  - 启动ld19 lidar node并显示激光数据在Rviz上:
+  ``` bash
+  # if ROS_DISTRO in 'kinetic' or 'melodic'
+  $ roslaunch ldlidar_stl_ros viewer_ld19_kinetic_melodic.launch
+  # if ROS_DISTRO in 'noetic'
+  $ roslaunch ldlidar_stl_ros viewer_ld19_noetic.launch
   ```
 
 ##   4. 测试
 
 > 代码支持ubuntu16.04 ROS kinetic、ubuntu18.04 ROS melodic、ubuntu20.04 ROS noetic版本下测试，使用rviz可视化。
 
-- 新打开一个终端 (Ctrl + Alt + T),并通过Rviz工具打开readme文件所在目录的rviz文件夹下面的ldlidar.rviz文件
+- 新打开一个终端 (Ctrl + Alt + T),并通过Rviz工具打开readme文件所在目录的rviz文件夹下面的rviz配置文件
 ```bash
-rosrun rviz rviz
+$ rviz
 ```
 
 | 产品型号:          | Fixed Frame: | Topic:        |
 | ------------------ | ------------ | ------------- |
-| LDROBOT LiDAR LD06 | lidar_frame  | /LiDAR/LD06 |
-| LDROBOT LiDAR LD19 | lidar_frame  | /LiDAR/LD19 |
+| LDROBOT LiDAR LD06 | base_laser  | /scan |
+| LDROBOT LiDAR LD19 | base_laser  | /scan |
 
 
 # Instructions
@@ -149,9 +166,9 @@ $ sudo chmod 777 /dev/ttyUSB0
 <!-- ldldiar message publisher node -->
  <node name="LD06" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_node" output="screen" >
   <param name="product_name" value="LDLiDAR_LD06"/>
-  <param name="topic_name" value="LiDAR/LD06"/>
+  <param name="topic_name" value="scan"/>
   <param name="port_name" value ="/dev/ttyUSB0"/>
-  <param name="frame_id" value="lidar_frame"/>
+  <param name="frame_id" value="base_laser"/>
   <!-- Set laser scan directon: -->
   <!--    1. Set counterclockwise, example: <param name="laser_scan_dir" type="bool" value="true"/> -->
   <!--    2. Set clockwise,        example: <param name="laser_scan_dir" type="bool" value="false"/> -->
@@ -168,8 +185,11 @@ $ sudo chmod 777 /dev/ttyUSB0
  </node>
 <!-- ldlidar message subscriber node -->
  <node name="ListenLD06" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_listen_node" output="screen">
-  <param name="topic_name" value="LiDAR/LD06"/>
+  <param name="topic_name" value="scan"/>
  </node>
+ <!-- publisher tf transform, parents frame is base_link, child frame is base_laser -->
+ <!-- args="x y z yaw pitch roll parents_frame_id child_frame_id period_in_ms"-->
+ <node name="base_to_laser" pkg="tf" type="static_transform_publisher"  args="0.0 0.0 0.18 0 0.0 0.0 base_link base_laser 50"/>
 </launch>
 ```
 ## step 2: build
@@ -201,25 +221,41 @@ $ catkin_make
 ### step3.2: start LiDAR node
 
 - The product is LDROBOT LiDAR LD06
-
+  - start ld06 lidar node:
   ``` bash
-  roslaunch ldlidar_stl_ros ld06.launch
+  $ roslaunch ldlidar_stl_ros ld06.launch
   ```
+  - start ld06 lidar node and show on the Rviz:
+  ``` bash
+  # if ROS_DISTRO in 'kinetic' or 'melodic'
+  $ roslaunch ldlidar_stl_ros viewer_ld06_kinetic_melodic.launch
+  # if ROS_DISTRO in 'noetic'
+  $ roslaunch ldlidar_stl_ros viewer_ld06_noetic.launch
+  ```
+
 - The product is LDROBOT LiDAR LD19
-
+  - start ld19 lidar node:
   ``` bash
-  roslaunch ldlidar_stl_ros ld19.launch
+  $ roslaunch ldlidar_stl_ros ld19.launch
   ```
+  - start ld19 lidar node and show on the Rviz:
+  ``` bash
+  # if ROS_DISTRO in 'kinetic' or 'melodic'
+  $ roslaunch ldlidar_stl_ros viewer_ld19_kinetic_melodic.launch
+  # if ROS_DISTRO in 'noetic'
+  $ roslaunch ldlidar_stl_ros viewer_ld19_noetic.launch
+  ```
+
 ## step 4: test
 
 > The code was tested under ubuntu16.04 ROS kinetic、ubuntu18.04 ROS melodic、ubuntu20.04 ROS noetic, using rviz visualization.
 
-- new a terminal (Ctrl + Alt + T) and use Rviz tool,open the `ldlidar.rviz` file below the rviz folder of the readme file directory
+- new a terminal (Ctrl + Alt + T) and use Rviz tool,open the rviz config file below the rviz folder of the readme file directory
 ```bash
-rosrun rviz rviz
+$ rviz
 ```
 
 | Product:          | Fixed Frame: | Topic:        |
 | ------------------ | ------------ | ------------- |
-| LDROBOT LiDAR LD06 | lidar_frame  | /LiDAR/LD06   |
-| LDROBOT LiDAR LD19 | lidar_frame  | /LiDAR/LD19   |
+| LDROBOT LiDAR LD06 | base_laser  | /scan   |
+| LDROBOT LiDAR LD19 | base_laser  | /scan   |
diff --git a/launch/ld06.launch b/launch/ld06.launch
@@ -2,9 +2,9 @@
 <!-- ldldiar message publisher node -->
  <node name="LD06" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_node" output="screen" >
   <param name="product_name" value="LDLiDAR_LD06"/>
-  <param name="topic_name" value="LiDAR/LD06"/>
+  <param name="topic_name" value="scan"/>
   <param name="port_name" value ="/dev/ttyUSB0"/>
-  <param name="frame_id" value="lidar_frame"/>
+  <param name="frame_id" value="base_laser"/>
   <!-- Set laser scan directon: -->
   <!--    1. Set counterclockwise, example: <param name="laser_scan_dir" type="bool" value="true"/> -->
   <!--    2. Set clockwise,        example: <param name="laser_scan_dir" type="bool" value="false"/> -->
@@ -21,6 +21,9 @@
  </node>
 <!-- ldlidar message subscriber node -->
  <node name="ListenLD06" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_listen_node" output="screen">
-  <param name="topic_name" value="LiDAR/LD06"/>
+  <param name="topic_name" value="scan"/>
  </node>
+ <!-- publisher tf transform, parents frame is base_link, child frame is base_laser -->
+ <!-- args="x y z yaw pitch roll parents_frame_id child_frame_id period_in_ms"-->
+ <node name="base_to_laser" pkg="tf" type="static_transform_publisher"  args="0.0 0.0 0.18 0 0.0 0.0 base_link base_laser 50"/>
 </launch>
diff --git a/launch/ld19.launch b/launch/ld19.launch
@@ -2,9 +2,9 @@
 <!-- ldldiar message publisher node -->
  <node name="LD19" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_node" output="screen" >
   <param name="product_name" value="LDLiDAR_LD19"/>
-  <param name="topic_name" value="LiDAR/LD19"/>
+  <param name="topic_name" value="scan"/>
   <param name="port_name" value ="/dev/ttyUSB0"/>
-  <param name="frame_id" value="lidar_frame"/>
+  <param name="frame_id" value="base_laser"/>
   <!-- Set laser scan directon: -->
   <!--    1. Set counterclockwise, example: <param name="laser_scan_dir" type="bool" value="true"/> -->
   <!--    2. Set clockwise,        example: <param name="laser_scan_dir" type="bool" value="false"/> -->
@@ -21,6 +21,9 @@
  </node>
 <!-- ldlidar message subscriber node -->
  <node name="ListenLD19" pkg="ldlidar_stl_ros" type="ldlidar_stl_ros_listen_node" output="screen">
-  <param name="topic_name" value="LiDAR/LD19"/>
+  <param name="topic_name" value="scan"/>
  </node>
+ <!-- publisher tf transform, parents frame is base_link, child frame is base_laser -->
+ <!-- args="x y z yaw pitch roll parents_frame_id child_frame_id period_in_ms"-->
+ <node name="base_to_laser" pkg="tf" type="static_transform_publisher"  args="0.0 0.0 0.18 0 0.0 0.0 base_link base_laser 50"/>
 </launch>
diff --git a/launch/viewer_ld06_kinetic_melodic.launch b/launch/viewer_ld06_kinetic_melodic.launch
@@ -0,0 +1,4 @@
+<launch>
+  <include file="$(find ldlidar_stl_ros)/launch/ld06.launch" />
+  <node name="rviz_show_ldlidar" pkg="rviz" type="rviz" args="-d $(find ldlidar_stl_ros)/rviz/ldlidar_kinetic_melodic.rviz" required="true"/>
+</launch>
diff --git a/launch/viewer_ld06_noetic.launch b/launch/viewer_ld06_noetic.launch
@@ -0,0 +1,4 @@
+<launch>
+  <include file="$(find ldlidar_stl_ros)/launch/ld06.launch" />
+  <node name="rviz_show_ldlidar" pkg="rviz" type="rviz" args="-d $(find ldlidar_stl_ros)/rviz/ldlidar_noetic.rviz" required="true"/>
+</launch>
diff --git a/launch/viewer_ld19_kinetic_melodic.launch b/launch/viewer_ld19_kinetic_melodic.launch
@@ -0,0 +1,4 @@
+<launch>
+  <include file="$(find ldlidar_stl_ros)/launch/ld19.launch" />
+  <node name="rviz_show_ldlidar" pkg="rviz" type="rviz" args="-d $(find ldlidar_stl_ros)/rviz/ldlidar_kinetic_melodic.rviz" required="true"/>
+</launch>
diff --git a/launch/viewer_ld19_noetic.launch b/launch/viewer_ld19_noetic.launch
@@ -0,0 +1,4 @@
+<launch>
+  <include file="$(find ldlidar_stl_ros)/launch/ld19.launch" />
+  <node name="rviz_show_ldlidar" pkg="rviz" type="rviz" args="-d $(find ldlidar_stl_ros)/rviz/ldlidar_noetic.rviz" required="true"/>
+</launch>
diff --git a/rviz/ldlidar.rviz → rviz/ldlidar_kinetic_melodic.rviz b/rviz/ldlidar.rviz → rviz/ldlidar_kinetic_melodic.rviz
@@ -1,20 +1,18 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 121
+    Help Height: 78
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Grid1
+        - /Status1
         - /LaserScan1
-        - /Axes1
       Splitter Ratio: 0.5
-    Tree Height: 551
+    Tree Height: 565
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
     Expanded:
-      - /Interact1
       - /2D Pose Estimate1
       - /2D Nav Goal1
       - /Publish Point1
@@ -50,14 +48,41 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 100
+      Plane Cell Count: 20
       Reference Frame: <Fixed Frame>
       Value: true
+    - Class: rviz/Axes
+      Enabled: false
+      Length: 1
+      Name: Axes
+      Radius: 0.100000001
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_laser:
+          Value: true
+        base_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          base_laser:
+            {}
+      Update Interval: 0
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 0
-        Min Value: 0
+        Max Value: 10
+        Min Value: -10
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -68,33 +93,26 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 246
+      Max Intensity: 245
       Min Color: 0; 0; 0
-      Min Intensity: 25
+      Min Intensity: 22
       Name: LaserScan
       Position Transformer: XYZ
-      Queue Size: 100
+      Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.00999999978
       Style: Points
-      Topic: /LiDAR/LD06
+      Topic: /scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rviz/Axes
-      Enabled: true
-      Length: 1
-      Name: Axes
-      Radius: 0.100000001
-      Reference Frame: <Fixed Frame>
-      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: lidar_frame
+    Fixed Frame: base_laser
     Frame Rate: 30
   Name: root
   Tools:
@@ -115,7 +133,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 13.4815817
+      Distance: 7.74400043
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -125,23 +143,23 @@ Visualization Manager:
         X: 0
         Y: 0
         Z: 0
-      Focal Shape Fixed Size: false
+      Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
       Pitch: 1.56979632
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.16039586
+      Yaw: 3.13039947
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 902
+  Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c5000002fffc0200000007fc00000028000002ff000000f50100001dfa000000000100000002fb000000100044006900730070006c0061007900730100000000ffffffff0000016a00fffffffb0000001200530065006c0065006300740069006f006e0100000000000001c50000007200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001c20000015000000185000000ecfb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000162000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002ff000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007450000003bfc0100000002fb0000000800540069006d00650100000000000007450000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000412000002ff00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -150,6 +168,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1861
-  X: 57
-  Y: 24
+  Width: 1200
+  X: 344
+  Y: 32