neo-ros

Dependencies

1. libneo

-. See the readme file to install it.

For a quick installation on Linux:

# clone the neo-sdk repository
# if your using new lidar, you must checkout to `newlidar` branch
git clone https://github.com/micvision/neo-sdk

# enter the libneo directory
cd neo-sdk

# create and enter a build directory
mkdir -p build
cd build

# build and install the libneo library
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build .
sudo cmake --build . --target install
sudo ldconfig
# then you should see libneo.so in /usr/local/lib,
# and relative *.h/*.hpp file in /usr/local/include

2. pcl

When you install ROS, the PCL will be installed automatically.

3. pointcloud_to_laserscan

sudo apt-get install ros-${ROS_DISTRO}-pointcloud-to-laserscan

Installation

wget https://raw.githubusercontent.com/micvision/neo-ros-pc2/master/script/installNeoROS.sh
## adding execute privileges
chmod +x installNeoROS.sh
## then install package, with a valid catkin workspace
./installNeoROS.sh (catkin workspace)

or, we can use the method step by step

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/tyuownu/neo-ros-pc2

cd ..

catkin_make
source devel/setup.bash

Neo ROS Driver and Node

The neo_node is currently publishing a sensor_msgs/PointCloud2 msg via a topic pc2, and you can do some pointcloud processing algorithm using pcl. And the pc2 can easliy transform to scan(sensor_msgs/LaserScan msg) via pointcloud_to_laserscan package.

Usage

1. Serial port If the serial port on your computer is not /dev/ttyUSB0, change the serial_port in launch file.

And then, give the permission to the serial port.

sudo chmod 777 /dev/ttyUSB0

2. Run without visible(without rviz):

# with `pc2` topic
roslaunch neo_ros_pc2 neo_f1.launch
# with `scan` topic
roslaunch neo_ros_pc2 neo2scan_f1.launch

3. Run with rviz:

# with `pc2` topic
roslaunch neo_ros_pc2 view_neo_pc2_f1.launch

# with `scan` topic
roslaunch neo_ros_pc2 view_neo_laser_scan_f1.launch

Environment

1. OS: ubuntu 16.04

2. ROS: Kinetic

note: Other OS and ROS should also can compile and run correct, but you should modify some files.