YDLIDAR HP60C Compact Lidar Sensor User Manual

YDLIDAR HP60C Compact Lidar Sensor User Manual

OPERATION UNDER WINDOWS

Device Connection
When HP60C is evaluated and developed under windows, HP60C and PC need to be interconnected. The specific process is as follows:

How to Use EAIViewer
YDLIDAR provides EAIViewer, a visualization software for HP60C real-time scanning. Users can use this software to visually observe the HP60C scanning map. Visualization software download  link: https://www.ydlidar.com/dowfile.html?cid=29&type=5

Data Display
After opening the software, RGB and Depth data will be displayed automatically, and the Depth
information of the mouse position will be displayed in the lower left corner of the Depth window, as shown in the figure below:

FIG 2 SOFTWARE INTERFACE

Data Management – Change The Save Address
Set the address to save the data.

By default, the data was stored in the same directory folder named “Nuwa – HP60C”.

FIG 3 CHANGE THE DATA SAVE ADDRESS

Record Data
Users can record Depth, RGB, Point Cloud data, and save it in the peer directory by default.
Save address Change refers to Data Management – Change the saved address.

FIG 4 DISPLAY MEAN AND STANDARD DEVIATION

Save Image
Depth, RGB, and Point Cloud data can be saved in the peer directory by default; Save address Change refers to Data Management – Change the saved address.

FIG 5 SAVE IMAGE

Save Camera Parameters
Camera parameters are saved in text format.

FIG 6 SAVE CAMERA PARAMETERS

LINUX ROS OPERATION

Run Ubuntu (Linux) System Example Program
Go to the sample/linux directory, where build.sh is the compile script and run_ascamera.sh is the script to run the sample program. root permissions are required to execute the program, which is run in sudo mode in the script.

Compile:
$ ./build.sh

Start node:
$ ./run_ascamera.sh

Run ROS System Sample Program
Go to the sample/ros directory, where build.sh is the compile script and run_ascamera.sh is the script for starting the node. Starting a node requires root permission, which is run in sudo mode in the script.

Compile:
$ ./build.sh

Start node:
$ ./run_ascamera.sh

Run ROS2 System Sample Program
Go to the sample/ros2 directory, where build.sh is the compile script and run_ascamera.sh is the script for starting the node. Starting a node requires root permission, which is run in sudo mode in the script.

Compile:
$ ./build.sh

Start node:
$ ./run_ascamera.sh

RVIZ Image Checking
When the node is started, open rviz to receive and view the image. The steps are as follows:

1. Start the rviz node with the following command:
   ROS1:
   ** $ rosrun rviz rviz
   ROS2:
   ** $ ros2 run rviz2 rviz2

2. Select the Fixed Frame the Users want in the Globa Options of displays in RVIZ after startup, as shown below.

3. To Add display options, click [Add] in the lower left corner of RVIZ and select [By topic] in the pop-up window to add the topic Users want to display.

4. To view depth as an example, select Image under /xxx/depth/image_raw0 and click [OK] to add the topic to the display window.

FAQ

How To Run ROS Nodes Without Root Permissions
In Linux, the root permission is required to access the device. For programs that operate the device node in the /dev directory, one way to change the device node permission is to run the chmod command, but this is only temporary. For programs that do not operate the device node in the /dev directory, the root permission is required. Permissions cannot be changed by chmod. In this case, users can use Linux udev and rules to manage device permissions.

For Linux system using HP60C phase module, the sample can be performed through/linux_ros/ros/SRC/ascomata create_udev_rules/scripts directory. Sh scripts, can operate by ordinary jurisdiction ros node access HP60C camera. Modify the run_ascamera_node.sh script in the sample/linux_ros/roes/ directory to check and apply for the comment of the root permission. As shown below：

How to Run The Ros2 Node Without Root Permissions
In Linux, the root permissions is required to access the device. For programs that operate the device node in the /dev directory, one way to change the device node permission is to run the chmod command, but this is only temporary. For programs that do not operate the device node in the /dev directory, the root permission is required. Permissions cannot be changed by chmod. In this case, users can use Linux udev and rules rules to manage device permissions.

For Linux system using HP60C phase module, by holding the sample/linux_ros/ros2 / SRC/ascamera create_udev_rules/scripts directory. Sh scripts, The HP60C camera can be accessed by running the ROS2 node with normal permissions.

Executing Script Errors Provided By SDK
Execute errors such as script: Bad substitution or Syntax error: redirection unexpected provided by the SDK. This is because the shell script provided by the SDK is the bash shell, and the default shell parser for ubuntu is dash. Bash is more powerful than Dash, and some Bash syntax may not be parsed by dash. Users can change the default shell of ubuntu to bash by following these steps.
The terminal execution sudo DPKG to reconfigure the dash, select [NO] in a pop-up window.
Compilation Error On Ubuntu 20.04/22.04 ROS
ROS (Noetic or later) in Ubuntu 20.04/22.04 reported the following error. As a result of our node example program under the ROS is based on ubuntu18.04 melodic development version of ROS, when transplanted into ROS – Noetic, Ros can be/SRC/ascomata/CMakeLists. TXT file – STD = c + + 11 changes to – STD = = 14 c + + or – STD = = c + + 17.

Using RVIZ2 On ROS2 Did Not Find The Posted Topic
Cause: When method 3.2 is not executed, the script will run the application with root permission, resulting in ubuntu22.04 or some versions of rviz2 without root permission will not be able to subscribe to the application published topics.

Solution: to perform the above 3.2.

Depth Camera Matching Exception Problem In Virtual Machine
Since HP60C camera is combined by two USB device for a camera (1 USB communication equipment + 1 UVC equipment), so users need to match; When running on a virtual machine, USB devices cannot be correctly paired because the device topology of the virtual machine may be incorrect. Therefore, when running a program on a virtual machine, only one HP60C camera can be connected. If more than one camera is used, the matching may fail due to the above reasons.

Multiple Cameras Run Abnormal Flow
One possible reason for this issue is that the system kernel parameter usbfs_memory_mb is set too small. Usbfs_memory_mb is a kernel parameter used to specify the memory size used by the USB file system (USBFS). USBFS is a virtual file system used to transfer USB device data between user space and the kernel. This parameter specifies the memory size, in MB, allocated by usbfs to the USB device communication buffer. By default, this value is 16 MB. By increasing or decreasing this value, you can adjust the memory size of the USB device communication buffer.
Temporary modification method (will fail after system restart): Increase this kernel parameter to 64/128/512 or higher.
Command: echo “64” | sudo tee – a/sys/module/usbcore/parameters/usbfs memory_mb The permanent modification method can be set by customers according to the system they are using.

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