seyond_lidar_ros is a driver package for the Seyond LiDAR, compatible with both ROS and ROS2.
This project is built on the inno-lidar-sdk and serves as a demonstration for customers, providing a practical reference on how to utilize the inno-lidar-sdk.
├── build.bash // compile script
├── create_deb.bash // create deb script
├── doc // documentation
├── src
│ └── seyond_lidar_ros // seyond ros package
├── LICENSE
├── CHANGELOG.md
├── README_CN.md
└── README.md
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Falcon-K1
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Falcon-K2
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Robin-W
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Robin-ELITE(Robin-E1X)
The following official versions are verified to support
| Distro | Platform | Release data | EOL data |
|---|---|---|---|
| Melodic | Ubuntu 18.04 | May 23rd, 2018 | June 2023 |
| Noetic | Ubuntu 20.04 | May 23rd, 2020 | May 2025 |
| Foxy | Ubuntu 20.04 | June 5th, 2020 | June 2023 |
| Galactic | Ubuntu 20.04 | May 23rd, 2021 | December 2022 |
| Humble | Ubuntu 22.04 | May 23rd, 2022 | May 2027 |
| Iron | Ubuntu 22.04 | May 23rd, 2023 | December 2024 |
| Jazzy | Ubuntu 24.04 | May 23rd, 2024 | May 2029 |
Installation:
sudo apt-get update
sudo apt-get install -y libyaml-cpp-dev
please refer to config.yaml, support multiple lidars input
| Parameter | Default Value | description |
|---|---|---|
| config_path | "" | config_path, if use this param, other params will become invalid |
| log_level | info | limit log from lidar, can choose from (info warn error) |
| replay_rosbag | false | replay rosbag packet flag |
| packet_mode | false | packet mode enable |
| aggregate_num | 20 | aggregate packets num |
| frame_id | seyond | - |
| frame_topic | iv_points | - |
| packet_topic | iv_packets | - |
| lidar_name | seyond | lidar name |
| lidar_ip | 172.168.1.10 | - |
| port | 8010 | tcp port |
| udp_port | 8010 | udp port |
| reflectance_mode | true | 0:intensiy mode 1:reflectance mode |
| multiple_return | 1 | lidar detection echo mode |
| continue_live | false | fatal error encountered, restart driver |
| pcap_file | "" | path of path playback pcapfile |
| hv_table_file | "" | path of hv table file, only for generic lidar |
| packet_rate | 10000 | file playback rate, if value <= 100 : value MB/s, if value > 100 : value / 10000 x |
| file_rewind | 0 | number of file replays 0:no rewind -1: unlimited times |
| max_range | 2000 | display point maximum distance |
| min_range | 0.4 | display point minimum distance |
| name_value_pairs | "" | some settings of lidar are consistent with the usage of inno_pc_client |
| coordinate_mode | 3 | convert the xyz direction of a point cloud, x/y/z, 0:up/right/forward 3:forward/left/up |
| transform_enable | false | transform enable |
| x | 0.0 | - |
| y | 0.0 | - |
| z | 0.0 | - |
| pitch | 0.0 | - |
| yaw | 0.0 | - |
| roll | 0.0 | - |
| transform_matrix | "" | transform matrix string, if not empty, priority is higher than x/y/z/pitch/yaw/roll |
If you have your own ROS/ROS2 workspace, please refer to ROS package build
Pull seyond_sdk submodule
git submodule update --init --recursive
optional
cd src/seyond_lidar_ros/seyond_sdk
git checkout <the release tag you want to use>
You can also unzip the inno-lidar-sdk you want to use into the src/seyond_lidar_ros/seyond_sdk directory.
Compile
source /opt/ros/<ROS_DISTRO>/setup.sh
./build.bash
Run
source install/setup.bash
roslaunch seyond start.launch
// or
ros2 launch seyond start.py
