> For the complete documentation index, see [llms.txt](https://omorobot.gitbook.io/manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://omorobot.gitbook.io/manual/product/omo-r1mini/ros/ros1-melodic/lidar.md).

# Lidar 다루기

* 기본적으로 OMO R1mini는 YDLidar를 탑제하고 있습니다.
* YDLidar와 HLDSLidar에 대한 실행 파일이 각각 다르으니 참고해주세요.

## YD 라이다

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdce6eekYVri-lrMCE%2F-MTdcwup0z8IlWqfFerI%2Fimage.png?alt=media\&token=11fd24c4-c219-440f-b173-3dbfb72122e2)

**\[R1mini w/ SSH]** \~/catkin\_ws/src 경로에 git 코드를 받습니다.

* git clone <https://github.com/PinkWink/ydlidar>

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MThtTLZlj8IpTd1PE-i%2F-MTiAAiGQZa92Jfx6sEF%2Fimage.png?alt=media\&token=bfa9bd24-0456-45a3-8ad2-3519bfa86e75)

**\[R1mini w/ SSH]** \~/catkin\_ws 경로에서 빌드합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdce6eekYVri-lrMCE%2F-MTdd9GcBnGpx-AGOvGT%2Fimage.png?alt=media\&token=1a062aea-464b-4a7a-8f54-0aa7a4305c44)

**\[R1mini w/ SSH]** source \~/.bashrc를 해줍니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdce6eekYVri-lrMCE%2F-MTddDMP7_hF7SDg2OFn%2Fimage.png?alt=media\&token=4bd289dc-19ad-40cc-957b-77032cf573b3)

roslaunch omo\_r1mini\_bringup omo\_r1mini\_lidar.launch 로 라이다를 실행합니다.

* 이 후 작업은 아래 HLDS 하단 부와 동일합니다.

## **HLDS 라이다**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdXuE1CZib_dhecibR%2Fimage.png?alt=media\&token=8ea629cf-3bb3-4a55-9a5f-544e559056ec)

hlds 라이다는 이진 설치 파일이 제공됩니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdawrKMGPFcVj8IfOw%2Fimage.png?alt=media\&token=ca32c319-e333-4b69-bb71-f4926503d474)

**\[R1mini w/ SSH]** 그렇다는 의미는 설치를 이렇게\~ 할 수 있다는 거쥐 \~

* sudo apt install ros-mel부터 <탭>

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MThtTLZlj8IpTd1PE-i%2F-MTiBF6fdLHrSsJjhtyC%2Fimage.png?alt=media\&token=f3114699-c7a7-4785-ae4b-1f5309a62bb1)

**\[내 PC]** roscore를 실행하고,

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdb812PUB9YzoMNlk7%2Fimage.png?alt=media\&token=a1c181f7-193f-417a-95d8-d3794b0216ca)

**\[R1mini w/ SSH]** roslaunch omo\_r1mini\_bringup omo\_r1mini\_lidar\_hlds.launch를 실행합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTddHxcwWjYTP8fmrFQ%2F-MTdhCFgiQLjoYR08_hD%2Fimage.png?alt=media\&token=92276f32-ddb2-48c1-99e8-72a420ae9083)

**\[R1mini w/ SSH]** 혹시 permission과 관련된 에러가 나면 sudo chmod 666 /dev/tty\* 로 권한을 주어 해결합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MThtTLZlj8IpTd1PE-i%2F-MTiBxNnabQL-mMsbU8O%2Fimage.png?alt=media\&token=99e1bbc2-0e1a-4eb5-b454-4a432c57bc62)

**\[내 PC]** rostopic list를 확인하면 아래와 같은 결과를 확인할 수 있습니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdbLHo74xU9o4-1L-_%2Fimage.png?alt=media\&token=4ffdf0c0-2d96-4fc4-a310-53dfbbe28588)

**\[내 PC]** rviz (Ros VIsualiZation tool)를 실행합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdbaDPNU38Gt-H5KDI%2Fimage.png?alt=media\&token=bf84a2fb-5468-4890-97a1-fcb5ab7f4ffd)

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdbejb6fjScIaPEOm9%2Fimage.png?alt=media\&token=058efb42-bce1-468e-bd60-6f29d618204e)

add 버튼을 클릭합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdbkoXGSoKx3Yu-j8i%2Fimage.png?alt=media\&token=4f57bac6-6099-4800-8ae3-13fd5f550ea2)

by topic 탭으로 들어가서,

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdboNeSwVBiTQxxqXM%2Fimage.png?alt=media\&token=a4cbf4dc-c14d-416d-81c3-4e78e1fd67d5)

LaserScan을 클릭하고 창을 닫은 다음,

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdburfbWDcht6TnohX%2Fimage.png?alt=media\&token=18adb0b3-5715-4e08-8387-dde951335b7d)

Displays의 Fixed Frame 항목을 base\_scan으로 변경합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdc0V_KYCwCINkt6go%2Fimage.png?alt=media\&token=be32c1f6-59a1-4fbe-a394-9b8275d63662)

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdc3TfhPyHQnDeellk%2Fimage.png?alt=media\&token=26fea46b-bd75-40ce-b7ef-fbdc3d153c28)

라이다가 인식한 주변 환경을 관찰합니다.

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MTdL8tOE3EDWi87b6Tc%2F-MTdc84ghZ4Yn3J7-iEx%2Fimage.png?alt=media\&token=c6b82bd6-f2a1-4f3d-b597-06c05859d7cd)