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# C++ Lidar Lite driver

Driver for Garmin Lidar Lite v3.

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### Hardware configuration
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This library provides quick access to all the basic functions of LIDAR-Lite using an USB-I2C communications module. 

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For detailed specifications, pinout, and connection diagrams, please refer to the following manuals.
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- [Lidar Lite V3](http://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf) (I2C connection diagrams)
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- [USB-I2C module](http://www.robot-electronics.co.uk/htm/usb_i2c_tech.htm)
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### Software dependencies
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- [iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils) - IRI C++ library
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  - Download the library: `git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils`
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  - Compile and install: `cd iriutils/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make -j $(nproc) && sudo make install`
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- [comm](https://gitlab.iri.upc.edu/labrobotica/drivers/comm) - IRI C++ library
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  - Download the library: `git clone https://gitlab.iri.upc.edu/labrobotica/drivers/comm`
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  - Compile and install: `cd comm/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make -j $(nproc) && sudo make install`
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- [usb_i2c_adapter](https://gitlab.iri.upc.edu/labrobotica/drivers/usb_i2c_adapter) - IRI C++ library
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  - Download the library: `git clone https://gitlab.iri.upc.edu/labrobotica/drivers/usb_i2c_adapter`
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  - Compile and install: `cd usb_i2c_adapter/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make -j $(nproc) && sudo make install`
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- [FTDI driver](http://www.ftdichip.com/Drivers/D2XX.htm) - (Required only if not previously installed)
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  - Download the FTDI driver depending on your ubuntu distribution: http://www.ftdichip.com/Drivers/D2XX.htm 
  - Install the driver: http://www.ftdichip.com/Support/Documents/AppNotes/AN_220_FTDI_Drivers_Installation_Guide_for_Linux.pdf
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  - Add the following line at the end of your `~/.bashrc` file: `export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH`

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### Installation

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- Clone the repository: `git clone https://gitlab.iri.upc.edu/asantamaria/LidarLite.git`
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- Install:	`cd LidarLite/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make -j $(nproc) && sudo make install`
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### Example of usage
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- Run `/bin/./lidar_lite_test`.

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- Checkout [iri_lidar_lite](https://gitlab.iri.upc.edu/asantamaria/iri_lidar_lite) project to use this library within ROS framework.
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### Support material and multimedia
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Please, visit: [**asantamaria's web page**](http://www.angelsantamaria.eu)