raspios buster customization en

LDROBOT Raspberry Pi Custom Mirror User Manual

version: v1.1 date: 2022-06-28 author: LdrobotSensorTeam

1. Introduction to mirroring

1.1. Mirror composition

• raspberrypi raspbian OS version: 2020-08-20-raspios-buster-armhf
• ROS environment version：ROS melodic
• LDROBOT LiDAR LD06/LD19 ROS Package

1.2. hardware support

• raspberrypi 3B+ SBC 、raspberrypi 4B SBC
• SD card with a capacity greater than or equal to 16GB

2. Mirror usage

2.1. Download image file

• download link 1：https://pan.baidu.com/s/1fvTfXBbWC9E5XNNUY5aJhw extraction code：ky8a
• download link 2: https://drive.google.com/file/d/1ylMTFGRZ9cRcy3Njvf10cxDo4Wy3tfCB/view?usp=sharing
• The image file name is 2022-03-24-raspios-buster-armhf-ldrobot-customization.img.xz

2.1. Write the image file to SD card and run the system

• Write through the Win32DiskImager tool, insert it into the Raspberry Pi card slot after successful writing, and power on the system

2.2. System login related information

• username: pi
• hostname: raspberrypi
• passward: pi

2.3. Running the lidar node

• step1: Make sure the lidar device is connected to the raspberrypi SBC, and open a terminal via the shortcut Ctrl+Alt+T
• step2: Retrieve the port device file corresponding to the radar device through ls -l /dev, give executable permission, and then modify the lanuch file parameters. Take the port file corresponding to the lidar device as /dev/ttyUSB0 as an example

  $ sudo chmod 777 /dev/ttyUSB0

• Note: It is recommended to update the LIdar ROS driver package in the mirror for the first time

cd ~ && cd ~/ldlidar_ros_ws/src/

rm -rf ldlidar_stl_ros/

git clone  https://github.com/ldrobotSensorTeam/ldlidar_stl_ros.git

• • step2.1: If the product is LDROBOT LiDAR LD06, modify the port_name parameter in the ld06.launch file to /dev/ttyUSB0

  $ nano ~/ldlidar_ros_ws/src/ldlidar_stl_ros/launch/ld06.launch

• • step2.2: If the product is LDROBOT LiDAR LD19, modify the port_name parameter value /dev/ttyUSB0 in the ld19.launch file

  $ nano ~/ldlidar_ros_ws/src/ldlidar_stl_ros/launch/ld19.launch

• step3: Start the lidar node with roslaunch

• • step3.1: If the product is LDROBOT LiDAR LD06, run the following command in the terminal:
• • • start ld06 lidar node

roslaunch ldlidar_stl_ros ld06.launch

• • • start ld06 lidar node and show lidar data on the Rviz

roslaunch ldlidar_stl_ros viewer_ld06_kinetic_melodic.launch

• • step3.2: If the product is LDROBOT LiDAR LD19, run the following command in the terminal:
• • • start ld19 lidar node

roslaunch ldlidar_stl_ros ld19.launch

• • • start ld19 lidar node and show lidar data on the Rviz

roslaunch ldlidar_stl_ros viewer_ld19_kinetic_melodic.launch