# simple_vanjee_716mini

**Repository Path**: thkfighter/simple_vanjee_716mini

## Basic Information

- **Project Name**: simple_vanjee_716mini
- **Description**: 万集716mini雷达非ROS驱动
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-05-12
- **Last Updated**: 2024-04-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: rokit-lidar-driver

## README

# simple_vanjee_716mini

## 非ROS驱动
branch main

万集716mini雷达非ROS驱动，由万集提供的ROS驱动修改得到。

Read data from LiDAR vanjee 716mini
Transform to datagram in simple protocol of Rexroth ROKIT Locator
Send datagram to a specific port, like 4242

### 使用说明

1.  下载发行版simple_vanjee_716mini*.AppImage到Locator所在Linux电脑
2.  修改文件为可执行
> $ chmod +x simple_vanjee_716mini*.AppImage
3.  在命令行执行程序

Running appimage without arguments results in printing its help text. You can find examples at the end of the text.
```
$ [path_to_appimage_file]/simple_vanjee_716mini_ubuntu22.04_gcc11.3.0_x86_64.AppImage 
Usage: ./simple_vanjee_716mini_ubuntu22.04_gcc11.3.0_x86_64.AppImage [options]
Allowed options:
  -h [ --help ]                        produce help message
  -d [ --default ]                     use default option values
  -f [ --lidar_ip ] arg (=192.168.0.2) LiDAR IP
  -F [ --lidar_port ] arg (=2110)      LiDAR port
  -T [ --simple_port ] arg (=4242)     port to which messages in simple 
                                       protocol are sent
  --scan_gear arg (=2)                 1->15Hz, 2->25Hz
  -m [ --communication_mode ] arg (=0) 0:tcp; 1:udp
  --host_ip arg (=192.168.150.131)     UDP host IP
  --host_port arg (=6060)              UDP host port

Example 1: To transfer laser data from LiDAR with address 192.168.8.150 and port 5555 to port 9090
        ./simple_vanjee_716mini_ubuntu22.04_gcc11.3.0_x86_64.AppImage -f 192.168.8.150 -F 5555 -T 9090
Example 2: To transfer laser data from LiDAR with default address 192.168.0.2 and default port 2110 to port 9090
        ./simple_vanjee_716mini_ubuntu22.04_gcc11.3.0_x86_64.AppImage -T 9090
Example 3: To transfer laser data with all default option values, from LiDAR 192.168.0.2:2110 to port 4242
        ./simple_vanjee_716mini_ubuntu22.04_gcc11.3.0_x86_64.AppImage -d
```

### Package to AppImage
Make a single executable file including dependencies.

Refer to travis/build.sh and install dependencies.

If you want run travis/build.sh from line 6 to its end, use
> sed -n '6,$p' ./travis/build.sh | bash

```
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr
make -j$(nproc)
make install DESTDIR=AppDir 
/usr/bin/linuxdeploy-x86_64.AppImage --appdir AppDir --output appimage
```

### Build with extention CMake of Visual Studio Code

Press Ctrl+Shift+P to open command pallet, type CMake: Build and run.

## ROS noetic driver
branch ros_noetic