O-Net LiDAR ROS2 Driver

The driver is designed for ROS2 foxy

Dependencies

pcl_ros sudo apt-get install ros-foxy-pcl-ros
rviz2 sudo apt-get install ros-foxy-rviz2

Build within Docker container

Start Docker container: /opt/share/ros/start_ros_docker.sh $(pwd)
Inside the Docker container, cd into the repo directory and execute colcon build

Build without Docker container

cd into the repo directory and execute colcon build

Launch the ROS node

After building, set environment using source install/setup.bash
Add LD_LIBRARY_PATH using export LD_LIBRARY_PATH=$(pwd)/install/lidar_ros_driver/lib/lidar_ros_driver:$LD_LIBRARY_PATH
Execute ros2 launch lidar_ros_device run.launch.py
If save_bag set to True, the saved bag file can be found in $(pwd)/install/lidar_ros_driver/lib/lidar_ros_driver/lidar_bag/lidar_bag_0.db3