Ros Driver Installation; Rviz Installation - EAI YDLIDAR X2 User Manual

ROS Driver Installation

Before doing the following, make sure that the Kinetic version ROS environment is installed
correctly.
1. Use the command to create the ydlidar_ws workspace and copy the ROS driver package
ydlidar_ros_driver in the YDLIDAR package to the ydlidar_ws/src directory. Switch to the
ydlidar_ws workspace and compile again.
$ mkdir -p ~/ydlidar_ws/src
$ cd ~/ydlidar_ws
$ catkin_make
2. After the compilation is complete, add the ydlidar_ws environment variable to the ~/.bashrc
file and make it effective.
$ echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
3. Add a device alias /dev/ydlidar to the YDLIDAR serial port.
$ cd ~/ydlidar_ws/src/ydlidar_ros_driver/startup
$ sudo chmod +x initenv.sh
$ sudo sh initenv.sh

RVIZ installation

1. Online installation
$ sudo apt-get
ros-kinetic-turtlebot-rviz-launchers
2. If something went wrong, update the source cache and re-install it.
$ sudo apt-get update
install python-serial
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ros-kinetic-serial g++ vim \
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