LSLIDAR N10 PLUS - Linux ROS Driver Operation; Serial Connection and Permissions; ROS Driver Setup Example

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N10 PLUS

6 ROS Driver Operation Under Linux OS

This section introduces the point cloud display and driver usage of LSLiDAR N10

PLUS lidar on Linux. You can acquire the ROS driver from LSLiDAR technical

support. The N10 PLUS ROS driver is applicable for point cloud display,

parameter configuration, etc.

6.1 Check Serial Connection & Read/Write Permission

Settings

Check in the /dev directory to see if there is a corresponding USB device

connected, and give the device read and write access.

Figure 6.1 /dev directory

6.2 ROS Driver Operation Example

1) Establish a workspace and build a compilation environment

mkdir -p ~/leishen_ws/src

Note: The workspace can be named arbitrarily. (But the path of workspace

shall be in English only.) For example, “leishen_ws” can be changed to any

name.

2) Download the LiDAR ROS driver

The ROS driver can also be obtained directly from our website or customer

service. Copy the obtained driver file to the newly created workspace “src”,

and use the “tar-xvf” order to decompress it.

3) Compile and package

cd ~/leishen_ws

catkin_make

4) Run the program

source devel/setup.bash

roslaunch lsn10 plus .launch