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# ROS 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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### Software dependencies
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##### C++ LidarLite library and dependencies
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- [iriutils](https://devel.iri.upc.edu/pub/labrobotica/drivers/iriutils/trunk) - IRI C++ library
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- Download the library: `svn co https://devel.iri.upc.edu/pub/labrobotica/drivers/iriutils/trunk iriutils`
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- Compile and install: `cd iriutils/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install`
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- [comm](https://devel.iri.upc.edu/pub/labrobotica/drivers/comm/trunk) - IRI C++ library
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- Download the library: `svn co https://devel.iri.upc.edu/pub/labrobotica/drivers/comm/trunk comm`
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- Compile and install: `cd comm/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install`
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- [usb_i2c_adapter](https://devel.iri.upc.edu/pub/labrobotica/drivers/usb_i2c_adapter/trunk) - IRI C++ library
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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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### 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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### Support material and multimedia
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Please, visit: [**asantamaria's web page**](http://www.iri.upc.edu/people/asantamaria) |
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