Doralidar ROS Driver

ROS Driver package for Doralidar series

• DL-QMT20-H2
• DL-QOA06PNP-H3
• DL-QMS40PNP-H2

Before install

Environment

1. Ubuntu 18.04/20.04
2. ROS Melodic

How to Build

which_shell=$(echo $SHELL|sed 's;^.*/;;g')

# 1. Setup environment
source /opt/ros/melodic/setup.${which_shell}

# 2. Install
catkin_make install

How to Run

# 1. Run with node
roslaunch doralidar dl_ls1207de_with_1_lidar.launch

# 2. Run with nodelet
roslaunch doralidar dl_ls1207de_nodelet_with_1_lidar.launch

Note

Please modify range_max param in launch file according to the type of Doralidar you are running. (20/40)

How to disable debug mode

In cfg/dlLs.cfg, set the default value of debug_mode to False

How to disable check frame mode

In dl_ls1207de.launch or dl_ls1207de_nodelet.launch, set the checkframe = false in xml