jackyrouse / sdk

ydlidar sdk

YDLIDAR SDK PACKAGE V1.3.6

SDK test application for YDLIDAR

Visit EAI Website for more details about YDLIDAR .

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:115200

$ Please enter the lidar intensity:0

windows:

$ ydlidar_test.exe

$ 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:

 	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_flag;//new scan flag

   uint16_t    sync_quality;//!intensity

   uint16_t   angle_q6_checkbit; //!angle

   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:

if(data[i].scan_frequence != 0) {

    current_frequence = data[i].scan_frequence/10.0;
}

current_time_stamp = data[i].stamp;

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);//v1.3.5版本之后信号质量不用右移２位(如果特定带信号的s4b雷达是8比特的需右移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;

        uint64_t current_time_stamp;

        for (size_t i = 0; i < size; i++ ) {

            if( data[i].scan_frequence != 0) {

                current_frequence =  data[i].scan_frequence;//or current_frequence = data[0].scan_frequence

            }

            current_time_stamp = data[i].stamp;

            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_q;

            current_intensity = (float)(data[i].sync_quality );

        }

        if (current_frequence != 0 ) {

            printf("current lidar scan frequency: %f\n", current_frequence);

        } else {

            printf("Current lidar does not support return scan frequency\n");

        }
    }

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.

2.add packet type with scan frequency support.

2018-04-16 version:1.3.2

1.add multithreading support.

2018-04-16 version:1.3.1

1.Compensate for each laser point timestamp.