In this case, there are two PC's: one PC running windows and a simulated ABB arm (called the WINDOWSPC from now on) and one PC running Ubuntu and ROS (called ROSPC from now on). If the Lidar is S1 or S2, please skip this step.įor RPLIDAR A1 series, this method will enable DTR signal to make the motor rotate for A2 and A3 serieses, the method will make the accessory board to output a PWM signal to MOTOR_PWM pin.It's possible to simulate the communication between ROS and an ABB arm, by replacing the real arm by a simulated arm. Method startMotor() is used to start this motor. The LIDAR is not spinning by default for A1, A2 and A3. / Delete Lidar Driver and channel Instance Printf("Model: %d, Firmware Version: %d.%d, Hardware Version: %d\n",ĭeviceInfo.firmware_version > 8, deviceInfo.firmware_version & 0xffu,įprintf(stderr, "Failed to get device information from LIDAR %08x\r\n", res) įprintf(stderr, "Failed to connect to LIDAR %08x\r\n", res) Res = (*lidar)->getDeviceInfo(deviceInfo) Sl_lidar_response_device_info_t deviceInfo ILidarDriver * lidar = *createLidarDriver()
Result channel = createSerialPortChannel("/dev/ttyUSB0", 115200) / Create a communication channel instance Please make sure you have make and g++ installed, and then just invoke make in the root directory, you can get the compiled result at output/$PLATFORM/$SCHEME, such as output/Linux/Release.
It contains the library as well as some demo applications. If you have Microsoft Visual Studio 2019 installed, just open workspaces/vc14/sdk_and_demo.sln, and compile. If you have Microsoft Visual Studio 2010 installed, just open workspaces/vc10/sdk_and_demo.sln, and compile. RPLIDAR SDK supports Windows, macOS and Linux by using Visual Studio 20 projects and Makefile.
The demo applications are licensed under GPLv3 license. The SDK itself is licensed under BSD 2-clause license. If you are just evaluating RPLIDAR, you can use Slamtec RoboStudio( ) (currently only support Windows and Android) to do the evaulation. If you are using ROS (Robot Operating System), please use our open-source ROS node directly. This is the public SDK of RPLIDAR products in C++, and open-sourced under GPLv3 license. Slamtec RPLIDAR( ) series is a set of high-performance and low-cost LIDAR( ) sensors, which is the perfect sensor of 2D SLAM, 3D reconstruction, multi-touch, and safety applications. Slamtec RPLIDAR Public SDK for C++ Introduction
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