cyglidar_d1 is a ROS package, which is designed to visualize 2D/3D distance dataset in real-time. For more details in CygLiDAR, please visit http://www.cygbot.com
mkdir -p ~/cyglidar_ws/src/
cd ~/cyglidar_ws/src/
git clone https://github.com/CygLiDAR-ROS/cyglidar_d1.git
cd ..
catkin_make- When CMake Error Occured as below
pcl_conversionsConfig.cmake / pcl_conversions-config.cmake
pcl_rosConfig.cmake / pcl_ros-config.cmake
sudo apt install ros-noetic-pcl-conversions
sudo apt install ros-noetic-pcl-ros
---or---
sudo apt install ros-melodic-pcl-conversions
sudo apt install ros-melodic-pcl-rosInstall the udev rule
roscd cyglidar_d1
cd scripts
chmod +x create_udev_rules.sh
./create_udev_rules.shIn cyglidar.launch, the run mode number can be switched to 0, 1 and 2 for 2D, 3D and Dual(2D/3D)
And the others can be switched respectively as below:
roslaunch cyglidar_d1_ros1 cyglidar.launch
roslaunch cyglidar_d1_ros1 view_cyglidar.launch (Run with Rviz)
In Rviz, the fixed frame and the topics for Point Cloud are as follows:
/laser_frame/map/scan (LaserScan)
/scan_2D (PointCloud XYZRGBA)
/scan_3D (PointCloud XYZRGBA)
/scan_image (Image)
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