ur12_lidar_driver

Description

The ur12_lidar_driver package is a linux ROS driver for the LD-06/19 series of lidars. The package is tested on Ubuntu 20.04 with ROS Noetic.

Compling

This is a catkin package. Make sure the package is on ROS_PACKAGE_PATH after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.

Make sure to install deps first:

cd your_work_space/src
git clone https://github.com/UbiquityRobotics/ur12_lidar.git

cd..
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
catkin_make 
```

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="ur12_lidar" pkg="ur12_lidar" type="ur12_lidar" args="LD06" output="screen" >
        <param name="serial_port" value="/dev/ttyUSB0"/>
        <param name="lidar_frame" value="laser"/>
     </node>
</launch>

ROS Support

• Kinetic
• Melodic
• Noetic