ETLIDAR SDK

Introduction

ETLIDAR(https://www.ydlidar.com/) series is a set of high-performance and low-cost TOF LIDAR sensors, which is the perfect sensor of 2D SLAM, 3D reconstruction, multi-touch, and safety applications.

If you are using ROS (Robot Operating System), please use our open-source ROS Driver .

Release Notes

Title	Version	Data
SDK	1.0.2	2019-04-13

How to build ETLIDAR SDK samples

$ git clone https://github.com/ydlidar/etlidar_sdk

$ cd etlidar_sdk

$ git checkout master

$ cd ..

Linux:

$ mkdir build

$ cd build

$ cmake ../etlidar_sdk   ##windows: cmake -G "Visual Studio 14 2017 Win64" ../etlidar_sdk 

$ make

Windows: $ mkdir build

$ cd build

$ cmake -G "Visual Studio 14 2017 Win64" ../etlidar_sdk 

$ make

Compile wth Qt: 1). Qt configuration cmake 2). Open the CmakeLists.txt project file with Qt.

How to run ETLIDAR SDK samples

linux:

$ ./ydlidar_test
Please enter the lidar IP[192.168.0.11](yes):yse
[YDLidar]: SDK Version: 1.1
[YDLidar]: LIDAR Version: 1.1
[YDLidar]: Opening scan and checking whether Lidar is abnormal.........
[YDLidar]: [YDLIDAR INFO] Now YDLIDAR is scanning ......

windows:

$ ydlidar_test.exe
Please enter the lidar IP[192.168.0.11](yes):yse
[YDLidar]: SDK Version: 1.1
[YDLidar]: LIDAR Version: 1.1
[YDLidar]: Opening scan and checking whether Lidar is abnormal.........
[YDLidar]: [YDLIDAR INFO] Now YDLIDAR is scanning ......

Data structure

data structure:

typedef struct _lidarPot {
	/**
	* @brief range
	*/
	float range;
	/**
	* @brief angle
	*/
	float angle;
	/**
	* @brief intensity
	*/
	int   intensity;
 
}lidarPot;

typedef struct _lidarData {
	/**
	* @brief ranges.
	*/
	std::vector<lidarPot> data;

	/**
	* @brief headFrameFlag.
	*/
	int headFrameFlag;

	/**
	* @brief frame timestamp in nanoseconds.
	*/
	uint64_t self_timestamp;

	/**
	* @brief system time.
	*/
	uint64_t system_timestamp;
	/**
	* @brief scan_time
	*/
	uint64_t scan_time;
} lidarData;

example parsing:

for(size_t i =0; i < scan.data.size(); i++) {

  // current angle
  float angle = scan.data[i].angle ;// radian format

  //current distance
  float angle = scan.data[i].range ;//meters

  //current intensity
  int intensity = scan.data[i].intensity;

}

laser callback function code :

Quick Start

The best way to learn how to use sdk is to follow the tutorials in our sdk guide:

https://github.com/yangfuyuan/etlidar_sdk/Samples

If you want to learn from code examples, take a look at the examples in the Samples directory.

Include Header

#include "ETLidarDriver.h"
#include <config.h>
#define DEVICE_IP "192.168.0.11"

Simple Usage

int main(int argc, char **argv) {

    char* lidarIp = DEVICE_IP;
	if (argc > 1) {
        lidarIp = argv[1];
    }
    ydlidar::init(argc, argv);

     ydlidar::ETLidarDriver lidar;
     result_t ans = lidar.connect(lidarIp);
     if(!IS_OK(ans)) {
     	ydlidar::console.error("Failed to connecting lidar...");
     	return 0;
     }
     
     bool rs = lidar.turnOn();
     while (rs && ydlidar::ok()) {
    	lidarData scan;
    	ans = lidar.grabScanData(scan);
    	if(IS_OK(ans)) {
      		ydlidar::console.message("scan recevied[%llu]: %d ranges",scan.system_timestamp, scan.data.size());
    	} else {
      		ydlidar::console.warning("Failed to get scan data");
    	}
     }
    lidar.turnOff();
    lidar.disconnect();
    return 0;
    
}

Note: Use sdk to be a "try catch" syntax to do exception handling.

Contact EAI

If you have any extra questions, please feel free to contact us