dorabot / doralidar

Doralidar ROS Driver

Doralidar ROS Driver

ROS Driver package for Doralidar series

• DL-QMT20-H2
• DL-QOA06PNP-H3
• DL-QMS40PNP-H2

Before install

Environment

1. Ubuntu 18.04/20.04
2. ROS Melodic

How to Build

which_shell=$(echo $SHELL|sed 's;^.*/;;g')

# 1. Setup environment
source /opt/ros/melodic/setup.${which_shell}

# 2. Install
catkin_make install

How to Run

# 1. Run with node
roslaunch doralidar dl_ls1207de_with_1_lidar.launch

# 2. Run with nodelet
roslaunch doralidar dl_ls1207de_nodelet_with_1_lidar.launch

Note

Please modify range_max param in launch file according to the type of Doralidar you are running. (20/40)

How to disable debug mode

In cfg/dlLs.cfg, set the default value of debug_mode to False

How to disable check frame mode

In dl_ls1207de.launch or dl_ls1207de_nodelet.launch, set the checkframe = false in xml

doralidar's Issues

Changing the static IP of the lidar

I was able to successfully run the example launch

roslaunch doralidar dl_ls_with_1_lidar.launch

after I set my static lan ip to:

But i was only able to do this after I disconnected from WiFi, as my DHCP router WiFi subnet is set to 192.168.0.x and that clashes with the static settings of the Lan (because I cant have 2 interfaces on the same subnet afaik). Is it possible to set the static IP of the lidar to something else, say 192.168.42.x? Do you see any other solution to the problem?

Cant run lidar with USB data cable

I have a lidar DL-QMT20-H2 which has a micro USB port access to it, but I don't see in this package any way that I would be able to get the data from it through USB cable. Is that even possible or is Ethernet the only possibility?

resource not found: dl_ls_udp

Trying to start the driver for DL-QMT20-H2 on Ubuntu 18.04, ROS Melodic.

After cloning into a empty ros workspace/src

carkin_make install
source devel/setup.bash
roslaunch doralidar dl_ls1207de_nodelet_with_1_lidar.launch

i got an error

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

resource not found: dl_ls_udp
ROS path [0]=/opt/ros/melodic/share/ros
resource not found: dl_ls_udp
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/janez/Documents/Git/dorabot_ws/src
ROS path [2]=/opt/ros/melodic/share
when processing file: /home/janez/Documents/Git/dorabot_ws/src/Doralidar/urdf/dl_ls1207de.urdf.xacro
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/share/xacro/xacro.py', '/home/janez/Documents/Git/dorabot_ws/src/Doralidar/urdf/dl_ls1207de.urdf.xacro']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro.py '$(find doralidar)/urdf/dl_ls1207de.urdf.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file