YDLIDAR_X3驱动安装

本文为安装笔记，感谢官方的售后及工程师在安装过程中提供的帮助。

Step1

必须要首先安装YDLidar-SDK，否则会报错"make cmake_check_build_system"。
YDLidar-SDKgithub下载地址

cd YDLidar-SDK
mkdir build && cd build
cmake ..
make
sudo make install

Step2

安装ROS驱动
github地址
官网地址(注意：目前官网没有X3，选择X2 ROS。X2! X2! X2!!!)

#1.构建ROS_workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
#1.1 在src文件夹下创建CMakeList.txt
catkin_init_workspace
#1.2 对工作空间首次编译
cd ~/catkin_ws
catkin_make
#1.3 设置环境变量
#1.3.1 设置路径到".bashrc"文件，添加永久工作区环境变量，否则可用单次软件包环境设置"source ./devel/setup.sh"
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
#1.3.2 更新环境变量
source ~/.bashrc

# (可选)查看包路径
echo $ROS_PACKAGE_PATH
# (可选)创建串行端口别名
chmod 0777 src/ydlidar_ros_driver-master/startup/*
sudo sh src/ydlidar_ros_driver-master/startup/initenv.sh

#2.将下载的驱动解压放入~/catkin_ws/src/

#3.编译驱动
cd ~/catkin_ws
catkin_make

Step3

rviz查看扫描结果

# 将lidar_view.launch文件中的"lidar.launch"改为"X2.launch"
roslaunch ydlidar_ros_driver lidar_view.launch

注意:

官网教程中会先运行ydlidar_ros_driver （roslaunch ydlidar_ros_driver X2.launch）再执行rviz查看扫描结果，前面的线程必须要停止再执行后面的（roslaunch ydlidar_ros_driver lidar_view.launch）否则会报Error：“Reason given for shutdown: [[/ydlidar_lidar_publisher] Reason: new node registered with same name]”