低成本小型激光雷达开源驱动构建  

The open source driver construction for low-cost small laser scanner

作　　者：刘德志[1] 孙作雷[1] 曾连荪[1] 

机构地区：[1]上海海事大学信息工程学院,上海201306

出　　处：《微型机与应用》2016年第16期20-22,共3页Microcomputer & Its Applications

摘　　要：构建了小型2D激光扫描仪驱动解决方案。以RPLIDAR为例,基于低成本硬件及其合理的通信规约设计,提升数据获取的可靠性。基于CMake交叉编译链使硬件驱动具有跨平台特性。同时,通过增加launch文件,使其支持ROS(Robot Operating System)。并分别在Windows和ROS系统下完成测试。相应的代码已在Github上开源,可免费用于移动机器人的导航、构图与3D重建、同步定位与地图构建(SLAM)等科研。A driver solution to the small 2D laser scanner is proposed. Taking the RPLIDAR as an example, the data capture reliability of the low cost hardware is improved with the well-designed communication protocol module. And CMake cross - platform compile chain is utilized in order to support muhiple platforms. Furthermore, the driver can support the Robot Operating System （ROS） by involving a launch file. The proposed driver is tested on Windows and ROS respectively. All the codes used in the experiments are available on Github, so they can be free- ly used on the research in the fields of mobile robot navigation, mapping and 3D reconstruction, simultaneous localization and mapping （ SLAM ）.

关 键 词：驱动 激光雷达 跨平台 开源 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]