ROS2 Node for the LD19 LIDAR sensor

Hardware details

https://www.waveshare.com/wiki/DTOF_LIDAR_LD19

Where to buy

https://www.aliexpress.us/item/3256804109024401.html

Installation

Setup device alias to /dev/ldlidar

sudo apt install libudev-dev

cat << EOF | sudo tee /etc/udev/rules.d/99-ldlidar.rules
# set the udev rule to alias the device at /dev/ldlidar
# CP210x USB Device
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="ldlidar"
EOF

sudo udevadm control --reload-rules
sudo udevadm trigger

Check it:

screen -L /dev/ldlidar 230400

Compile

cd src
git clone https://github.com/mattwilliamson/ld19_lidar.git
colcon build --symlink-install --packages-select=ld19_lidar

Running

source install/setup.sh
ros2 launch ld19_lidar node.launch.py

SLAM

source install/setup.sh
ros2 launch ld19_lidar slam.launch.py

Credits

Thank you to these repos for doing all the hard work:

• https://github.com/richardw347/ld19_lidar
• https://github.com/Myzhar/ldrobot-lidar-ros2