Lidar Sensor

Follow the steps from https://github.com/YDLIDAR/ydlidar_ros.

1) Clone this project to your catkin's workspace src folder (1). git clone https://github.com/YDLIDAR/ydlidar_ros (2). git chectout master 2) Running catkin_make to build ydlidar_node and ydlidar_client 3) Create the name "/dev/ydlidar" for YDLIDAR --$ roscd ydlidar_ros/startup --$ sudo chmod 777 ./* --$ sudo sh initenv.sh

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Model of LIdar sensor is: YDLidar X4

After your workspace has been built and sourced:

roslaunch ydlidar_ros X4.launch

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After launching the launch file, see the output in sensor_msgs/LaserScan Message format.

ranges data will be used for object avoidance.