User Manual

3.3 ROS Driver Installation

1) Cloning GitHub's YDlidar ROS Driver Package:

2) Build the Ydlidar_ROS_Driver software package:

3) Package environment Settings:

Note: Add permanent workspace environment variables. It will be very convenient if ROS

environment variables are automatically added to your bash session every time when start a new

shell:

4) Verify that the package path is set, echo the ROS_PACKAGE_PATH variable.

It can see something like this: /home/tony/ydlidar_ws/src:/opt/ros/melodic/share Create

5) Serial Port Alias [Optional]

Note: After completing the previous operation, re-insert the LIDAR again.

3.4 Run the ydlidar_ros_driver

Run ydlidar_ros_driver with startup file, as shown below:

$ git clone https://github.com/YDLIDAR/YDLidar-SDK.git

$ cd YDLidar-SDK/build

$ cmake ..

$ make

$ sudo make install

$ git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git

ydlidar_ws/src/ydlidar_ros_driver

$ cd ydlidar_ws

$ catkin_make

$ source ./devel/setup.sh

$ echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc

$ source ~/.bashrc

$ echo $ROS_PACKAGE_PATH

$ chmod 0777 src/ydlidar_ros_driver/startup/*

$ sudo sh src/ydlidar_ros_driver/startup/initenv.sh