LD06 Lidar ROS driver

This is an attempt to fix and improve the driver provided by LDRobots in their website

Parameters

The ldlidar node supports the following parameters:

• serial_port used to override the autodetect and select a specific port
• lidar_frame used to override the defauld lidar_frame frame_id for the sensor_msgs/laserscan topic generated by this node.

An example launch file including all parameters is provided below:

<launch>
 <node name="LD06" pkg="ldlidar" type="ldlidar" args="LD06" output="screen" >
    <param name="serial_port" value="/dev/ttyUSB12"/>
    <param name="lidar_frame" value="my_new_lidar_frame"/>
 </node>
</launch>

Building the driver

# create a workspace folder (or use the existing workspace for your robot)
mkdir -p lidar_driver_ws/src
cd lidar_driver_ws/src
# clone the repo within a workspace
git clone https://github.com/AlessioMorale/ld06_lidar.git
cd ..
# install all prerequisites & build
rosdep install --from-paths src --ignore-src -y
catkin build

ROS Support

• Kinetic
• Melodic
• Noetic