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LiDAR ​

Note

The following device tests are verified in the ROS2 environment. Please refer to the Tool Installation section and install all ROS-related tools.

Laser LDS-50C-E ​

Preparation ​

  • Rhino Pi-A1
  • Laser LDS-50C-E BlueSea LiDAR
  • 12V power supply for the LiDAR

Hardware Connection and Network Configuration ​

Connect the LiDAR to the 12V power supply, connect its Ethernet port to any network port of the Rhino Pi-A1, and configure the default IP (you can use ifconfig to configure a temporary IP).

The LDS-50C-E connects to the Rhino Pi-A1 via a standard Ethernet interface with an Ethernet cable. To ensure normal communication between the LiDAR and the Rhino Pi-A1, both need to be on the same subnet. The factory settings of the LiDAR are as follows:

  • LiDAR IP: 192.168.158.98
  • LiDAR subnet mask: 255.255.255.0
  • LiDAR gateway: 192.168.158.1
  • LiDAR default upload address: 192.168.158.15

The Rhino Pi network settings are as follows:

  • Network port IP: 192.168.158.15
  • Network port subnet mask: 255.255.255.0
  • Network port gateway: 192.168.158.1

LDS-50C-E Connection Diagram

After connecting the cable and configuring the IP, use the Ping command to check whether the network is connected.

Obtaining and Building the BlueSea ROS2 Driver Package ​

After connecting via a VNC tool and opening the Ubuntu desktop, execute the following commands in sequence:

  • Obtain the BlueSea ROS2 driver from GitHub and deploy it to the corresponding location
shell
sudo su  // password: aidlux

mkdir bluesea2
cd bluesea2
git clone https://github.com/BlueSeaLidar/bluesea-ros2.git  src
  • Install dependencies
shell
sudo apt update
sudo apt install -y python3-colcon-common-extensions
  • Build
shell
colcon build
  • Update the current ROS2 package environment
shell
source ./install/setup.sh
  • Run the driver with ROS2 launch
shell
ros2 launch bluesea2 udp_lidar.launch

Start Driver

Testing ​

After connecting via a VNC tool and opening the Ubuntu desktop, execute the following commands in sequence:

  • Data verification: check whether the scan outputs normally
shell
ros2 topic echo /scan

SCAN Data

  • Open the visualization tool rviz2
shell
rviz2
  • After opening, click the buttons in sequence to open the visualization interface

Visualization 1

Visualization 2

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