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# ROS Lidar Lite driver
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# C++ Lidar Lite driver
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ROS wrapper to work with [LidarLite](https://gitlab.iri.upc.edu/asantamaria/LidarLite) driver for Garmin Lidar Lite v3.
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Driver for Garmin Lidar Lite v3.
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### Software dependencies
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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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##### C++ LidarLite library and dependencies
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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.html)
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### Software dependencies
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- [iriutils](https://devel.iri.upc.edu/pub/labrobotica/drivers/iriutils/trunk) - IRI C++ library
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| ... | ... | @@ -21,33 +28,16 @@ ROS wrapper to work with [LidarLite](https://gitlab.iri.upc.edu/asantamaria/Lida |
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- Download the library: `svn co https://devel.iri.upc.edu/pub/labrobotica/drivers/usb_i2c_adapter/trunk usb_i2c_adapter`
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- Compile and install: `cd usb_i2c_adapter/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install`
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- [LidarLite](https://gitlab.iri.upc.edu/asantamaria/LidarLite) - IRI C++ library
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- Download the library: `git clone https://gitlab.iri.upc.edu/asantamaria/LidarLite.git`
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- Compile and install: `cd LidarLite/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install`
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##### ROS dependencies
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- [iri_core](https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg_hydro/metapackages/iri_core) - IRI ROS metapackage
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- Move to workspace: `roscd && cd ../src`
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- Download the library: `svn co https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg_hydro/metapackages/iri_core`
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- Compile: `roscd && cd ../src && catkin_make`
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- [sensor_msgs](http://wiki.ros.org/sensor_msgs) - ROS sensor messages
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- Install: `sudo apt-get install ros-`\<your ROS version\>`-sensor-msgs`
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### Installation
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- Move to workspace: `roscd && cd ../src`
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- Clone the repository: `git clone https://gitlab.iri.upc.edu/asantamaria/iri_lidar_lite.git`
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- Compile: `roscd && cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release`
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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 && sudo make install`
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### Example of usage
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- Run `roslaunch iri_lidar_lite iri_lidar_lite.launch`.
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- Parameters:
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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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| ... | ... | |
