#in case you have not added you to a group $ sudo addgroup dialout $ sudo usermod -a -G dialout $ sudo ls /dev/ttyU* 上記で表示された名前で下記以降を置き換えてコマンドをたたく。 $ sudo chmod 666 /dev/ttyUSB $ cd /etc/udev/rules.d $ sudo touch ttyUSBrule.rules $ sudo nano ttyUSBrule.rules

KERNEL=="ttyUSBnnn", MODE="0666"

And enable serial port Remote_gpio (disable serial console)

LD06 Lidar ROS driver

This is an attempt to fix and improve the driver provided by LDRobots in their website

Parameters

The ldlidar node supports the following parameters:

• serial_port used to override the autodetect and select a specific port
• lidar_frame used to override the defauld lidar_frame frame_id for the sensor_msgs/laserscan topic generated by this node.

An example launch file including all parameters is provided below:

<launch>
 <node name="LD06" pkg="ldlidar" type="ldlidar" args="LD06" output="screen" >
    <param name="serial_port" value="/dev/ttyUSB12"/>
    <param name="lidar_frame" value="my_new_lidar_frame"/>
 </node>
</launch>

---- Original readme ----

编译方法

使用catkin编译，执行如下操作

catkin_make

运行方法

source devel/setup.bash
roslaunch ldlidar LD06.launch 

or

rosrun ldlidar ldlidar 

rviz的配置在rviz文件夹下面。

测试

代码在ubuntun16.04 kinetic版本下测试，使用rviz可视化。