1. add imu sync

2. update sdk version to v1.3.6

CMakeLists.txt

@@ -14,6 +14,8 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rmw REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 set(SDK_PATH "./sdk/")
 
@@ -27,18 +29,23 @@ include_directories(
   ${PROJECT_SOURCE_DIR}/src
   ${PROJECT_SOURCE_DIR}/sdk/include
   ${PROJECT_SOURCE_DIR}/sdk/src
+  ${PROJECT_SOURCE_DIR}/sdk/matrix
 )
 
 add_executable(ydlidar_node src/ydlidar_node.cpp  ${SDK_SRC})
 ament_target_dependencies(ydlidar_node
   "rclcpp"
   "sensor_msgs"
+  "visualization_msgs"
+  "geometry_msgs"
 )
 
 add_executable(ydlidar_client src/ydlidar_client.cpp)
 ament_target_dependencies(ydlidar_client
   "rclcpp"
   "sensor_msgs"
+  "visualization_msgs"
+  "geometry_msgs"
 )
 
 

README.md

@@ -1,4 +1,4 @@
-YDLIDAR ROS2 PACKAGE V1.3.1
+YDLIDAR ROS2 PACKAGE V1.3.5
 =====================================================================
 
 ROS2 node and test application for YDLIDAR
@@ -65,6 +65,22 @@ resolution_fixed (bool, default: true)
 
     indicated whether the LIDAR has a fixed angular resolution. 
 
+auto_reconnect (bool, default: true)
+
+    indicated whether the LIDAR auto reconnection. 
+
+debug (bool, default: false)
+
+    indicated whether the LIDAR save parsing. 
+
+reversion (bool, default: false)
+
+    indicated whether the LIDAR data rotation 180°. 
+
+intensities (bool, default: false)
+
+    indicated whether the LIDAR has intensity. 
+
 angle_min (double, default: -180)
 
     Min valid angle (°) for LIDAR data. 
@@ -93,11 +109,33 @@ frequency (double, default: 7)
 
     the LIDAR scanning frequency.
 
+sensor_x (double, default: 0)
+
+    the LIDAR　X axis installation coordinates
+
+sensor_y (double, default: 0)
+
+    the LIDAR　Y axis installation coordinates
+
+sensor_yaw (double, default: 0)
+
+    the LIDAR　installation direction
+
+
+
+
 
 
 
 Upgrade Log
 =====================================================================
+
+2018-07-16 version:1.3.5
+
+   1.Update SDK verison to 1.3.6
+
+   2.add imu sync.
+
 2018-04-16 version:1.3.1
 
    1.Update SDK verison to 1.3.1

config/config.ini

@@ -8,8 +8,15 @@ angle_fixed    =TRUE
 resolution_fixed    =FALSE
 heartbeat      =FALSE
 low_exposure   =FALSE
+auto_reconnect = TRUE
+reversion      = FALSE
+debug          = FALSE
+intensities    = FALSE
 angle_max      =180
 angle_min      =-180
 max_range      =16.0
 min_range      =0.08
 frequency      =7.0
+sensor_x       =0.0
+sensor_y       =0.0
+sensor_yaw     =0.0

package.xml

@@ -13,9 +13,13 @@
 
   <build_depend>rclcpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

sdk/CMakeLists.txt

@@ -3,6 +3,8 @@ cmake_minimum_required(VERSION 2.8)
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 include_directories(include)
 include_directories(src)
+include_directories(matrix)
+
 
 IF (WIN32)
 FILE(GLOB SDK_SRC 
@@ -11,6 +13,8 @@ FILE(GLOB SDK_SRC
   "src/*.h"
   "src/impl/windows/*.cpp"
   "src/impl/windows/*.h"
+  "matrix/matrix/*.hpp"
+
 )
 
 ELSE()
@@ -20,13 +24,14 @@ FILE(GLOB SDK_SRC
   "src/*.h"
   "src/impl/unix/*.cpp"
   "src/impl/unix/*.h"
+  "matrix/matrix/*.hpp"
+
 )
 
 
 ENDIF()
 
 add_subdirectory(samples)
-
 add_library(ydlidar_driver SHARED ${SDK_SRC})
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 IF (WIN32)

sdk/README.md

@@ -1,4 +1,4 @@
-YDLIDAR SDK PACKAGE V1.3.3
+YDLIDAR SDK PACKAGE V1.3.6
 =====================================================================
 
 SDK [test](https://github.com/yangfuyuan/sdk) application for YDLIDAR
@@ -7,67 +7,131 @@ Visit EAI Website for more details about [YDLIDAR](http://www.ydlidar.com/) .
 
 How to build YDLIDAR SDK samples
 =====================================================================
+
     $ git clone https://github.com/yangfuyuan/sdk
+
     $ cd sdk
+
     $ git checkout master
+
     $ cd ..
+
     $ mkdir build
+
     $ cd build
+
     $ cmake ../sdk
+
     $ make			###linux
+
     $ vs open Project.sln	###windows
-    
+
 How to run YDLIDAR SDK samples
 =====================================================================
+
     $ cd samples
 
 linux:
 
     $ ./ydlidar_test
-    $Please enter the lidar port:/dev/ttyUSB0
-    $Please enter the lidar baud rate:230400
+
+    $ Please enter the lidar port:/dev/ttyUSB0
+
+    $ Please enter the lidar baud rate:115200
+
+    $ Please enter the lidar intensity:0
+
 
 windows:
 
     $ ydlidar_test.exe
-    $Please enter the lidar port:COM3
-    $Please enter the lidar baud rate:230400
+
+    $ Please enter the lidar port:COM3
+
+    $ Please enter the lidar baud rate:115200
+
+    $ Please enter the lidar intensity:0
 
 =====================================================================
 
 You should see YDLIDAR's scan result in the console:
 
-    Yd Lidar running correctly ! The health status: good
-    [YDLIDAR] Connection established in [/dev/ttyUSB0]:
-    Firmware version: 2.0.9
-    Hardware version: 2
-    Model: G4
-    Serial: 2018022700000003
-    [YDLIDAR INFO] Current Sampling Rate : 9K
-    [YDLIDAR INFO] Current Scan Frequency : 7.400000Hz
-    [YDLIDAR INFO] Now YDLIDAR is scanning ......
-    Scan received: 43 ranges
-    Scan received: 1361 ranges
-    Scan received: 1412 ranges
+     	YDLIDAR C++ TEST
+	Please enter the lidar port:/dev/ttyUSB0
+	Please enter the lidar baud rate:115200
+	Please enter the lidar intensity:1
+	fhs_lock: creating lockfile:      25148
+
+	Yd Lidar running correctly ! The health status: good
+	firmware: 273
+	[YDLIDAR] Connection established in [/dev/ttyUSB0]:
+	Firmware version: 1.1.7
+	Hardware version: 1
+	Model: S4
+	Serial: 2018022700000003
+	[YDLIDAR INFO] Current Sampling Rate : 4K
+	[YDLIDAR INFO] Current Scan Frequency : 7.000000Hz
+	set EXPOSURE MODEL SUCCESS!!!
+	[YDLIDAR INFO] Now YDLIDAR is scanning ......
+	min_angle: -3.141593 
+	max_angle: 3.141593 
+	Scan received: 571 ranges
+	fit line size: 9 
+	line length: 0.127150,   line angle: -1.888069
+	line length: 0.149980,   line angle: -2.520781
+	line length: 0.149141,   line angle: -2.590903
+	line length: 0.186178,   line angle: -2.221969
+	line length: 0.123318,   line angle: -2.354801
+	line length: 0.086761,   line angle: 2.476112
+	line length: 0.035698,   line angle: 2.552944
+	line length: 0.108063,   line angle: 0.907348
+	line length: 0.115837,   line angle: -1.229582
+
 
 
 Lidar point data structure
 =====================================================================
 
 data structure:
 
+    struct odom_info {
+
+      uint64_t   stamp; ///< 时间戳
+
+      double x;	      ///< x位置
+
+      double y;	     ///< y位置
+
+      double phi;     ///< 角度方向
+
+      double v;       ///< 线速度
+
+      double w;       ///< 角速度
+
+      double dx;       ///< x位置增量
+
+      double dy;       ///< y位置增量
+
+      double dth;       ///< 方向增量
+
+    };
+
     struct node_info {
 
-       uint8_t    sync_quality;//!intensity
+       uint8_t    sync_flag;//new scan flag
+
+       uint16_t    sync_quality;//!intensity
 
        uint16_t   angle_q6_checkbit; //!angle
 
-       uint16_t   distance_q2; //! distance
+       uint16_t   distance_q; //! distance
 
        uint64_t   stamp; //! time stamp
 
        uint8_t    scan_frequence;//! current_frequence = scan_frequence/10.0, If the current value equals zero, it is an invalid value
-
+
+       odom_info   current_odom; //! current odometry sync pose
+
     } __attribute__((packed)) ;
 
 example:
@@ -79,18 +143,18 @@ example:
 
     current_time_stamp = data[i].stamp;
 
-    current_distance = data[i].distance_q2/4.f;
+    current_distance = data[i].distance_q;　//v1.3.5版本之后距离不用右移２位
 
     current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
 
-    current_intensity = (float)(data[i].sync_quality >> 2);
+    current_intensity = (float)(data[i].sync_quality);//v1.3.5版本之后信号质量不用右移２位
 
     ###note:current_frequence = data[0].scan_frequence/10.0.
 
     ###if the current_frequence value equals zero, it is an invalid value.
 
 code:
-        
+
         void ParseScan(node_info* data, const size_t& size) {
 
             double current_frequence, current_distance, current_angle, current_intensity;
@@ -109,9 +173,9 @@ code:
 
                 current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);//LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT equals 8
 
-                current_distance =  data[i].distance_q2/4.f;
+                current_distance =  data[i].distance_q;
 
-                current_intensity = (float)(data[i].sync_quality >> 2);
+                current_intensity = (float)(data[i].sync_quality );
 
             }
 
@@ -132,6 +196,24 @@ code:
 
 Upgrade Log
 =====================================================================
+
+2018-07-17 version:1.3.6
+
+  1.add fit line.
+
+
+2018-05-23 version:1.3.5
+
+  1.add sync imu or odometry.
+
+  2.update scan protocol.
+
+2018-05-23 version:1.3.4
+
+  1.add automatic reconnection if there is an exception
+
+  2.add serial file lock.
+
 2018-05-14 version:1.3.3
 
    1.add the heart function constraint.
@@ -145,4 +227,3 @@ Upgrade Log
 2018-04-16 version:1.3.1
 
    1.Compensate for each laser point timestamp.
-