22: Adding Lidar and ROS2 interface to my robot скачать в хорошем качестве

22: Adding Lidar and ROS2 interface to my robot

00:46 Look at the physical implementation of the lidar sensor 01:07 The 3D designs I used for the YDLidar hardware platform on my tank robot base 02:14 Debugging the problem I had with identifying which USB ports were being used by the Lidar and base_motor_controler serial interfaces. 05:20 Using the CP21xx customization utility from Silicon Labs to give my CP2102 USB/UART devices unique serial numbers and names 07:05 Identifying the USB assignments 10:42Reviewing the installation of the YDLIDAR ROS2 node driver 11:24 Step 1 – install the YDLIDAR SDK 12:51 Test that the YDLIDAR SDK is working. ./ydlidar_test 13:49 Step 2 – install the ydlidar_ros2_driver 16:25 Step 3 – Update the ydlidar.yaml param file to set the correct ttyUSB1 port 17:20 Step4 – Fix the ydlidar ros2 launch file – remove the node_namespace setting 18:39 Step5 – Update the ydlidar.yaml parameter file to match the specific capabilities of the lidar I am using (see end of https://github.com/YDLIDAR/sdk document for details). Main thing was to change the baud rate and set it to use one way communication. 21:21 Test using ros2 rviz2 tool to visualize the scan data being returned by the Lidar 22:20 Everything is working! Lupincorp : https://www.lupincorp.com Lidar device (YDLIDAR 2XL) : https://www.amazon.com/gp/product/B07... YDLIDAR_SDK: https://github.com/YDLIDAR/YDLidar-SDK and installation instructions https://github.com/YDLIDAR/YDLidar-SD... Alternative YDLidar SDK – better description of parameter file setting for different ydlidars https://github.com/YDLIDAR/sdk YDLIDAR_ROS2_Driver : https://github.com/YDLIDAR/ydlidar_ro... DFRobot Devastator Kit: https://www.dfrobot.com/product-1477.... Silicon Labs CP21xx Customization utility: https://www.silabs.com/documents/publ... Fusion 360 3D design files: https://github.com/somervda/lupincorp... Github repositories: https://github.com/somervda/ourBotMan... and https://github.com/somervda/ourbotman...