C++ Lidar Lite driver

Driver for Garmin Lidar Lite v3.

Hardware configuration

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

For detailed specifications, pinout, and connection diagrams, please refer to the following manuals.

• Lidar Lite V3 (I2C connection diagrams)
• USB-I2C module

Software dependencies

• iriutils - IRI C++ library

  • Download the library: svn co https://devel.iri.upc.edu/pub/labrobotica/drivers/iriutils/trunk iriutils
  • Compile and install: cd iriutils/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install

• comm - IRI C++ library

  • Download the library: svn co https://devel.iri.upc.edu/pub/labrobotica/drivers/comm/trunk comm
  • Compile and install: cd comm/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install

• usb_i2c_adapter - IRI C++ library

  • Download the library: svn co https://devel.iri.upc.edu/pub/labrobotica/drivers/usb_i2c_adapter/trunk usb_i2c_adapter
  • Compile and install: cd usb_i2c_adapter/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install

Installation

• Clone the repository: git clone https://gitlab.iri.upc.edu/asantamaria/LidarLite.git
• Install: cd LidarLite/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install

Example of usage

• Run /bin/./lidar_lite_test.

• Checkout iri_lidar_lite project to use this library within ROS framework.

Support material and multimedia

Please, visit: asantamaria's web page