ROS Lidar Lite driver

ROS wrapper to work with LidarLite driver for Garmin Lidar Lite v3.

Software dependencies

C++ LidarLite library and 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

• LidarLite - IRI C++ library

  • Download the library: git clone https://gitlab.iri.upc.edu/asantamaria/LidarLite.git
  • Compile and install: cd LidarLite/build && cmake -D CMAKE_BUILD_TYPE=RELEASE .. && make && sudo make install

ROS dependencies

• iri_core - IRI ROS metapackage

  • Move to workspace: roscd && cd ../src
  • Download the library: svn co https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg_hydro/metapackages/iri_core
  • Compile: roscd && cd ../src && catkin_make

• sensor_msgs - ROS sensor messages

  • Install: sudo apt-get install ros-<your ROS version>-sensor-msgs

Installation

• Move to workspace: roscd && cd ../src
• Clone the repository: git clone https://gitlab.iri.upc.edu/asantamaria/iri_lidar_lite.git
• Compile: roscd && cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

Example of usage

• Run roslaunch iri_lidar_lite iri_lidar_lite.launch.
• Parameters:

Support material and multimedia

Please, visit: asantamaria's web page