{"id":6080,"date":"2019-09-27T11:12:06","date_gmt":"2019-09-27T09:12:06","guid":{"rendered":"https:\/\/blog.generationrobots.com\/?p=6080"},"modified":"2023-06-29T11:02:06","modified_gmt":"2023-06-29T09:02:06","slug":"lidar-integration-with-ros-quickstart-guide-and-projects-ideas","status":"publish","type":"post","link":"https:\/\/www.generationrobots.com\/blog\/en\/lidar-integration-with-ros-quickstart-guide-and-projects-ideas\/","title":{"rendered":"LiDAR integration with ROS: quickstart guide and projects ideas"},"content":{"rendered":"\t\t
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\u00a0<\/p>\n

Read our other blog posts from our \u201cLiDAR technology\u201d serie <\/strong> <\/span><\/p>\n\n

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\"Which <\/a><\/td>\n\u00a0<\/td>\n\u00a0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/figure>\n\n

LiDAR integration with ROS: quickstart guide and projects ideas<\/h2>\n\n

In this post, you will learn how to connect and integrate your LiDAR with your PC or embedded system using ROS middleware <\/strong> on Ubuntu. We will also talk about data fusion <\/strong> (widely used in mobile robotics).<\/p>\n\n

Are you new to ROS?<\/h2>\n\n

The Robot Operating System (ROS) <\/a> <\/strong> is a set of softwares libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, you will almost certainly need ROS for your next robotics project. ROS is completely open source.<\/p>\n\n

If you don\u2019t have Ubuntu set up on your computer, follow this instructions <\/a> to download the latest version. You have to download ROS distribution matching your Ubuntu version, for the Ubuntu 18.04 version, you need to install ROS Melodic <\/strong> .<\/p>\n\n

Once your computer is running on Ubuntu and that ROS is set up, we recommend you to look up these ROS tutorials <\/a> <\/strong> to get familiar with this middleware (beginner and intermediate levels available).<\/p>\n\n

Receive data from your LiDAR<\/h2>\n\n

In order to connect the LiDAR to you PC, you must first take care of the power supply. Depending of your device, it may require 5VDC or 12\/24VDC, for instance.<\/p>\n\n

5VDC supply voltage is usually supported by a USB connector plugged into your PC, you just have to wire it and the LiDAR will be ready to spin.<\/p>\n\n

For higher supply voltage, you need an external alimentation (low frequency generator), a transformator\/converter wired to main supply, or a battery.<\/p>\n\n

Once you have connected your LiDAR with its power supply, you need to connect the data transmitter.
It could be through the same cable as USB supplier, with a different one, with a Rx\/Tx cable, a UART cable or an Ethernet cable. Usually, an adapter is sold with the LiDAR.<\/p>\n\n

Read data from your LiDAR<\/h2>\n\n

Once your LiDAR is ready to be used, you have to check if you have the permissions on data input port:<\/p>\n\n

Once you have connected the data transmitter cable on the USB or Ethernet port, type the following command line to check the permissions:<\/p>\n\n

$ ls -l \/dev\/tty <\/em><\/p>\n\n

You should see a new item labelled ACMX <\/em> or USBX <\/em> , X <\/em> being a figure equal or higher than zero (depending on how many ports are already in-use).<\/p>\n\n

Your output should be in the form:<\/p>\n\n

$ crw-rw-XX- 1 root dialout 166, 0 2016-09-12 14:18 \/dev\/ttyACM0 <\/em><\/p>\n\n

or<\/p>\n\n

$ crw-rw-XX- 1 root dialout 166, 0 2016-09-12 14:18 \/dev\/ttyUSB0 <\/em><\/p>\n\n