ROS

ROS install in Pynq:

• In terminal type export ROS_OS_OVERRIDE=ubuntu:bionic.

• In terminal type sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'

• Continue to follow instructions from here starting from “1.3 Set up your keys”.

ROS install in Host:

Refer to ROS official website and download ROS according to your system.

Install laser driver for Leishen ls01d:

• git clone https://github.com/leishen-lidar/LS01D and copy the LS01D directory to your_workspace/src.

• Compile the code: catkin_make

Get laser data:

• After building the driver, in your workspace run ./devel/lib/talker/talker and the laser data will be published in /scan topic.

• You can use ros echo /scan to read the data.

Show in your host using RViz:

• In the Pynq, run:

  export ROS_MASTER_URI=http://192.168.5.108:11311
  export ROS_HOSTNAME=192.168.5.108

  The URI and HOSTNAME should be yours.

• In your host, run:

  export ROS_MASTER_URI=http://192.168.5.108:11311
  export ROS_HOSTNAME=192.168.5.100

  The URI should be the same as Pynq and HOSTNAME should be yours. If your Pynq use some other URI rules, please add that to /etc/hosts.

• Start the laser publisher and in your Pynq, run rviz -f laser_link.

• In RViz, choose Add button and add /scan.

  

• Now you can see the laser data in RViz.