激光雷达ros源码

ros机器人代码，激光雷达导航系统，slam

/*
*  3iRoboticsLIDAR System II
*  Driver Interface
*
*  Copyright 2017 3iRobotics
*  All rights reserved.
*
*	Author: 3iRobotics Data:2017-09-15
*
*/


#include “C3iroboticsLidar.h“
#include “CSerialConnection.h“

#define DEG2RAD（x） （（x）*M_PI/180.）


typedef struct _rslidar_data
{
    _rslidar_data（）
    {
        signal = 0;
        angle = 0.0;
        distance = 0.0;
    }
    uint8_t signal;
    float   angle;
    float   distance;
}RslidarDataComplete;

using namespace std;
using namespace everest::hwdrivers;


int main（int argc char * argv[]）
{
	int    opt_com_baudrate = 230400;
    string opt_com_path = “/dev/ttyUSB0“;

    CSerialConnection serial_connect;
    C3iroboticsLidar robotics_lidar;

    serial_connect.setBaud（opt_com_baudrate）;
    serial_connect.setPort（opt_com_path.c_str（））;
    if（serial_connect.openSimple（））
    {
        printf（“[AuxCtrl] Open serail port sucessful!\n“）;
        printf（“baud rate:%d\n“serial_connect.getBaud（））;
    }
    else
    {
        printf（“[AuxCtrl] Open serail port %s failed! \n“ opt_com_path.c_str（））;
        return -1;
    }

    printf（“C3iroboticslidar connected\n“）;

    robotics_lidar.initilize（&serial_connect）;


    while （1）
    {
		TLidarGrabResult result = robotics_lidar.getScanData（）;
        switch（result）
        {
            case LIDAR_GRAB_ING:
            {
                break;
            }
            case LIDAR_GRAB_SUCESS:
            {
                TLidarScan lidar_scan = robotics_lidar.getLidarScan（）;
                size_t lidar_scan_size = lidar_scan.getSize（）;
                std::vector send_lidar_scan_data;
                send_lidar_scan_data.resize（lidar_scan_size）;
                RslidarDataComplete one_lidar_data;
                for（size_t i = 0; i < lidar_scan_size; i++）
                {
                    one_lidar_data.signal = lidar_scan.signal[i];
                    one_lidar_data.angle = lidar_scan.angle[i];
                    one_lidar_data.distance = lidar_scan.distance[i];
                    send_lidar_scan_data[i] = one_lidar_data;
                }

                printf（“Lidar count %d!\n“ lidar_scan_size）;


                break;
            }
            case LIDAR_GRAB_ERRO:
            {
                break;
            }
            case LIDAR_GRAB_ELSE:
            {
                printf（“[Main] LIDAR_GRAB_ELSE!\n“）;
                break;
            }
        }
        //usleep（50）;
    }

    return 0;
}

 属性            大小     日期    时间   名称
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     目录           0  2018-12-06 02:18  Delta_2B_linux\
     目录           0  2018-12-06 02:18  Delta_2B_linux\build\
     目录           0  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\
     文件       45508  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\CMakeOutput.log
     目录           0  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\3.10.2\
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     文件       18076  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdC\CMakeCCompilerId.c
     文件        8400  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdC\a.out
     文件         402  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeSystem.cmake
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     文件        4849  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeCXXCompiler.cmake
     文件        8240  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeDetermineCompilerABI_C.bin
     文件        8256  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeDetermineCompilerABI_CXX.bin
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     文件         688  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\feature_tests.c
     文件       10011  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\feature_tests.cxx
     文件          85  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\cmake.check_cache
     目录           0  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\
     文件       29394  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\build.make
     文件         276  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\flags.make
     目录           0  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\app\
     文件       82480  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\app\node.cpp.o
     目录           0  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\
     目录           0  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\src\
     文件      188072  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\src\C3iroboticsLidar.cpp.o
     文件        1640  2018-12-06 02:18  Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\src\CArcTime.cpp.o
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