This is the primary package of the Seyond LiDAR ROS driver.
directory structure
├── config // lidar config file
├── launch // ros1 & ros2 launch file
├── msg // msg file
├── node // main file
│ ├── seyond_node.cc
│ └── seyond_test.cc
├── rviz // rviz config file
├── src
│ ├── driver
│ │ ├── driver_lidar.cc
│ │ ├── driver_lidar.h
│ │ ├── point_types.h
│ │ ├── ros1_driver_adapter.hpp
│ │ ├── ros2_driver_adapter.hpp
│ │ └── yaml_tools.hpp
│ ├── multi_fusion // for multiple lidars fusion
│ │ ├── ros1_multi_fusion.hpp
│ │ └── ros2_multi_fusion.hpp
│ ├── test // test node code
│ │ ├── ros1_test.hpp
│ │ └── ros2_test.hpp
│ └── seyond_sdk // seyond sdk
├── package.xml
├── CMakeLists.txt
├── LICENSE
└── README.md
-
Copy copy /seyond_lidar_ros/ directory to your ROS/ROS2 workspace
-
Build Seyond SDK
cd seyond_lidar_ros/src/seyond_sdk/build
./build_unix.sh
cd -if not success, please refer to the latest Seyond SDK documentation
- Build ros package
source /opt/ros/<ROS_DISTRO>/setup.sh
// for ROS
catkin_make install
// for ROS2
colcon build