lidar_ptcloud

This repository is modified from HPS3D160 LiDAR SDK from its manufacturer Hypersen Techonologies to generate a livestream of a merged LiDAR point cloud on ROS from TWO HPS3D160 LiDAR simultaneously.

Getting Started

This repository contains a .so file (compiled library file) that encapsulates the commands to the LiDAR. On the first deployment of this repo, you must copy and load this library on your working Linux machine.

#for ARM processor like Jetson
sudo cp libhps3d641714_arm.so /usr/local/lib/ 
sudo chmod +x /usr/local/lib/libhps3d641714_arm.so
sudo ldconfig

#for x86-64 processor
sudo cp libhps3d641712.so /usr/local/lib/ #for x86-64 processor
sudo chmod +x /usr/local/lib/libhps3d641712.so
sudo ldconfig

(For x86-64 processor users) The CMakelist.txt in this repo is set to read libhps3d641714_arm.so by default. As an additional step, change lines 28 and 29 to as follows

target_link_libraries(ptcloud_gen ${catkin_LIBRARIES} hps3d641712)
#target_link_libraries(ptcloud_gen ${catkin_LIBRARIES} hps3d641714_arm)

then build it

catkin build lidar_ptcloud

Plug the LiDARs by the order as instructed on the label on the USB plug and check if they are registered as /dev/ttyACM0 (Left) and /dev/ttyACM1 (Right) by executing this line

ll /dev/ttyACM*

then enable the read/write permission of the lidar

sudo chmod 777 /dev/ttyACM*

finally run the following:

roslaunch lidar_ptcloud lidar.launch

This generates two ROS nodes named ptcloud_gen and ptcloud_merge, with the latter publishes a merged point cloud data in sensor_msgs/PointCloud2 format.