22: Adding Lidar and ROS2 interface to my robot

00:46 Look at the physical implementation of the lidar sensor
01:07 The 3D designs I used for the YDLidar hardware platform on my tank robot base
02:14 Debugging the problem I had with identifying which USB ports were being used by the Lidar and base_motor_controler serial interfaces.
05:20 Using the CP21xx customization utility from Silicon Labs to give my CP2102 USB/UART devices unique serial numbers and names
07:05 Identifying the USB assignments
10:42Reviewing the installation of the YDLIDAR ROS2 node driver
11:24 Step 1 – install the YDLIDAR SDK
12:51 Test that the YDLIDAR SDK is working. ./ydlidar_test
13:49 Step 2 – install the ydlidar_ros2_driver
17:20 Step4 – Fix the ydlidar ros2 launch file – remove the node_namespace setting
21:21 Test using ros2 rviz2 tool to visualize the scan data being returned by the Lidar
22:20 Everything is working!

[johnkelly]

Love it.. Just what I was looking for. Trying to develop a robot pet that is autonomous as possible... Thanks. Subbed here!

[KSLEEProjects]

Hello! Your project is very interesting, and your videos are very informative! Do you have a github for this project with the urdf for the tank? I am interested in trying something the same

[DEVVAIBHAV]

Thanks for the video! I was looking at lidar implementation in gazebo simulation and was able to visualize laser_scan in rviz. The only problem is that it shows 2D/ planar information. But when you work with real robots in real environment, you would require vertical lasers/ scan information as well. Can you please suggest how to get that information? Some blogs say converting laser_scan to point cloud2 but that is converting 2D to 3D. How can you even convert 2D data to 3D without knowing the vertical information? If we don't set data for vertical part in point cloud, it still remains a 2D information. Please help.

[vlogmania]

I want to add a lidar to a abb robot arm manipulator. I have the simulation for the robot arm in ros2 humble gazebo and moveit.
How do I proceed by adding a lidar to the tip of the robot arm.

[vincentmatthew]

can you do a typing walk through of installing the SDK. I keep getting the same error messages : no such file or directory after inputting YDLidar-SDK/build