My modification is, I made a copy of sample folder to sample_cv and also change CMakelist file to make it compile my sample code. There are UdpSender.cpp and UdpSender.hpp files that I added into src/ and include/ Those codes I got it from my colleague Mark Fassler, you can check the original code from his repo https://github.com/mfassler/collision-detector
The distance and angle data will be streamed out at 3101 port and Lidar map image will be streamed out at 3201 port.
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SDK test application for YDLIDAR
Visit EAI Website for more details about YDLIDAR .
$ git clone https://github.com/ydlidar/sdk
$ cd sdk
$ git checkout TG30
$ cd ..
$ mkdir build
$ cd build
$ cmake ../sdk
$ make ###linux
$ vs open Project.sln ###windows
$ cd samples
linux:
$ ./ydlidar_test
$Lidar[ydlidar7] detected, whether to select current radar(yes/no)?:yes
windows:
$ ydlidar_test.exe
$Lidar[ydlidar7] detected, whether to select current radar(yes/no)?:yes
You should see YDLIDAR's scan result in the console:
[YDLidar]: YDLidar running correctly ! The health status is good
[YDLIDAR] Connection established in [/dev/ttyUSB0]:
Firmware version: 1.0.5
Hardware version: 2
Model: TG30
Serial: 2018112000000017
[YDLidar]: [YDLIDAR INFO] Current Sampling Rate : 20K
[YDLidar]: [YDLIDAR INFO] Current Scan Frequency : 8.000000Hz
[YDLidar]: [YDLIDAR INFO] Now YDLIDAR is scanning ......
[YDLidar]: Scan received[1545813311357484110]: 2087 ranges is [8.629041]Hz
[YDLidar]: Scan received[1545813311481785110]: 2309 ranges is [7.799038]Hz
[YDLidar]: Scan received[1545813311611886110]: 2348 ranges is [7.669442]Hz
[YDLidar]: Scan received[1545813311744358110]: 2380 ranges is [7.566280]Hz
[YDLidar]: Scan received[1545813311879407110]: 2406 ranges is [7.484483]Hz
[YDLidar]: Scan received[1545813312016237110]: 2432 ranges is [7.404435]Hz
[YDLidar]: Scan received[1545813312153357110]: 2453 ranges is [7.341020]Hz
[YDLidar]: Scan received[1545813312292580110]: 2505 ranges is [7.188571]Hz
[YDLidar]: Scan received[1545813312434769110]: 2527 ranges is [7.125962]Hz
data structure:
struct node_info {
uint8_t sync_flag;
uint16_t sync_quality;//!信号质量
uint16_t angle_q6_checkbit; //!测距点角度
uint16_t distance_q2; //! 当前测距点距离
uint64_t stamp; //! 时间戳
uint8_t scan_frequence;//! 特定版本此值才有效,无效值是0, 当前扫描频率current_frequence = scan_frequence/10.0
} __attribute__((packed)) ;
example:
if(data[i].scan_frequence != 0) {
current_frequence = data[i].scan_frequence/10.0;
}
current_time_stamp = data[i].stamp;
current_distance = (float)data[i].distance_q2/2000.f;
current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
current_intensity = (float)(data[i].sync_quality >> LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);
###note:current_frequence = data[0].scan_frequence/10.0.
###if the current_frequence value equals zero, it is an invalid value.
code:
void ParseScan(node_info* data, const size_t& size) {
double current_frequence, current_distance, current_angle, current_intensity;
uint64_t current_time_stamp;
for (size_t i = 0; i < size; i++ ) {
if( data[i].scan_frequence != 0) {
current_frequence = data[i].scan_frequence;//or current_frequence = data[0].scan_frequence
}
current_distance = (float)data[i].distance_q2/2000.f;
current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);//LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT equals 8
current_intensity = (float)(data[i].sync_quality >> LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);
}
if (current_frequence != 0 ) {
printf("current lidar scan frequency: %f\n", current_frequence);
} else {
printf("Current lidar does not support return scan frequency\n");
}
}
2019-11-27 version:1.4.2
1.define USE_LOCK_FILE macros
2.use steady time for wait.
2019-05-10 version:1.4.1
1.optimize timestamp.
2018-12-3 version:1.3.9
1.Optimized interface.
2.Getting Radar Port Lists.
2018-05-23 version:1.3.4
1.add automatic reconnection if there is an exception
2.add serial file lock.
2018-05-14 version:1.3.3
1.add the heart function constraint.
2.add packet type with scan frequency support.
2018-04-16 version:1.3.2
1.add multithreading support.
2018-04-16 version:1.3.1
1.Compensate for each laser point timestamp.