# ldlidar_sl_sdk

**Repository Path**: ldrobotSensorTeam/ldlidar_sl_sdk

## Basic Information

- **Project Name**: ldlidar_sl_sdk
- **Description**: LDROBOT Triangle LiDAR Linux SDK 
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2022-12-09
- **Last Updated**: 2023-05-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 操作指南

>此SDK仅适用于深圳乐动机器人有限公司销售的激光雷达产品，产品型号为:
> - LDROBOT LiDAR LD14
> - LDROBOT LiDAR LD14P

## 0. 获取雷达的Linux SDK
```bash
$ cd ~

$ mkdir  ldlidar_ws

$ cd ldlidar_ws

$ git clone  https://github.com/ldrobotSensorTeam/ldlidar_sl_sdk.git
```

## 1. 系统设置
- 第一步，通过板载串口或者USB转串口模块(例如,cp2102模块)的方式使雷达连接到你的系统主板.
- 第二步，设置雷达在系统中挂载的串口设备-x权限(以/dev/ttyUSB0为例)
	- 实际使用时，根据雷达在你的系统中的实际挂载情况来设置，可以使用`ls -l /dev`命令查看.

``` bash
$ cd ~/ldlidar_ws/ldlidar_sl_sdk

$ sudo chmod 777 /dev/ttyUSB0
```

## 2. 编译

```bash
$ cd ~/ldlidar_ws/ldlidar_sl_sdk
$ ./auto_build.sh
```

## 3. 运行
``` bash
$ ./build/ldlidar_sl_node <product_type> <serial_number>
# eg:
# LDLiDAR LD14
$ ./build/ldlidar_sl_node LD14  /dev/ttyUSB0
# LDLiDAR LD14P, measuring frequnecy is 2300Hz
$ ./build/ldlidar_sl_node LD14P_2300HZ  /dev/ttyUSB0
# LDLiDAR LD14P, measuring frequnecy is 4000Hz
$ ./build/ldlidar_sl_node LD14P_4000HZ  /dev/ttyUSB0
```