├── .vscode └── settings.json ├── README.md ├── YDLidar-SDK ├── CMakeLists.txt ├── Doxyfile ├── LICENSE.txt ├── README.md ├── README.pdf ├── build │ ├── CMakeFiles │ │ ├── 3.22.1 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ └── CMakeCCompilerId.c │ │ │ └── CompilerIdCXX │ │ │ │ └── CMakeCXXCompilerId.cpp │ │ ├── uninstall.dir │ │ │ ├── compiler_depend.make │ │ │ └── compiler_depend.ts │ │ └── ydlidar_sdk.dir │ │ │ ├── compiler_depend.internal │ │ │ ├── compiler_depend.make │ │ │ ├── compiler_depend.ts │ │ │ ├── core │ │ │ ├── base │ │ │ │ └── timer.cpp.o.d │ │ │ ├── common │ │ │ │ └── ydlidar_def.cpp.o.d │ │ │ ├── network │ │ │ │ ├── ActiveSocket.cpp.o.d │ │ │ │ ├── PassiveSocket.cpp.o.d │ │ │ │ └── SimpleSocket.cpp.o.d │ │ │ └── serial │ │ │ │ ├── impl │ │ │ │ └── unix │ │ │ │ │ ├── list_ports_linux.cpp.o.d │ │ │ │ │ ├── lock.c.o.d │ │ │ │ │ └── unix_serial.cpp.o.d │ │ │ │ └── serial.cpp.o.d │ │ │ └── src │ │ │ ├── CYdLidar.cpp.o.d │ │ │ ├── DTSLidarDriver.cpp.o.d │ │ │ ├── ETLidarDriver.cpp.o.d │ │ │ ├── GSLidarDriver.cpp.o.d │ │ │ ├── SDMLidarDriver.cpp.o.d │ │ │ ├── YDlidarDriver.cpp.o.d │ │ │ ├── filters │ │ │ ├── NoiseFilter.cpp.o.d │ │ │ └── StrongLightFilter.cpp.o.d │ │ │ └── ydlidar_sdk.cpp.o.d │ ├── et_test │ ├── examples │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── et_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── et_test.cpp.o.d │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gs_ota.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── gs_ota.cpp.o.d │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gs_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── gs_test.cpp.o.d │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gs_test2.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── gs_test2.cpp.o.d │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── lidar_c_api_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── lidar_c_api_test.c.o.d │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── progress.marks │ │ │ ├── scl_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── scl_test.cpp.o.d │ │ │ ├── sdm18_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sdm18_test.cpp.o.d │ │ │ ├── sdm_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── sdm_test.cpp.o.d │ │ │ ├── tea_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── tea_test.cpp.o.d │ │ │ ├── tmini_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── tmini_test.cpp.o.d │ │ │ ├── tof_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── tof_test.cpp.o.d │ │ │ ├── tri_and_gs_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── tri_and_gs_test.cpp.o.d │ │ │ ├── tri_restart.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── tri_restart.cpp.o.d │ │ │ └── tri_test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── compiler_depend.internal │ │ │ │ ├── compiler_depend.make │ │ │ │ ├── compiler_depend.ts │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── tri_test.cpp.o.d │ │ ├── Makefile │ │ └── cmake_install.cmake │ ├── gs_ota │ ├── gs_test │ ├── gs_test2 │ ├── install_manifest.txt │ ├── scl_test │ ├── sdm18_test │ ├── sdm_test │ ├── tea_test │ ├── tmini_test │ ├── tri_and_gs_test │ ├── tri_restart │ └── tri_test ├── cmake │ ├── FindPackage.cmake.in │ ├── PackageConfig.cmake.in │ ├── PackageConfigVersion.cmake.in │ ├── PkgConfig.pc.in │ ├── cmake_uninstall.cmake.in │ ├── common │ │ ├── ydlidar_base.cmake │ │ └── ydlidar_parse.cmake │ ├── install_package.cmake │ └── script_show_final_summary.cmake ├── core │ ├── CMakeLists.txt │ ├── base │ │ ├── CMakeLists.txt │ │ ├── datatype.h │ │ ├── locker.h │ │ ├── thread.h │ │ ├── timer.cpp │ │ ├── timer.h │ │ ├── typedef.h │ │ ├── utils.h │ │ ├── v8stdint.h │ │ └── ydlidar.h │ ├── common │ │ ├── CMakeLists.txt │ │ ├── ChannelDevice.h │ │ ├── DriverInterface.h │ │ ├── ydlidar_datatype.h │ │ ├── ydlidar_def.cpp │ │ ├── ydlidar_def.h │ │ ├── ydlidar_help.h │ │ └── ydlidar_protocol.h │ ├── math │ │ ├── CMakeLists.txt │ │ └── angles.h │ ├── network │ │ ├── ActiveSocket.cpp │ │ ├── ActiveSocket.h │ │ ├── CMakeLists.txt │ │ ├── PassiveSocket.cpp │ │ ├── PassiveSocket.h │ │ ├── SimpleSocket.cpp │ │ ├── SimpleSocket.h │ │ └── StatTimer.h │ └── serial │ │ ├── CMakeLists.txt │ │ ├── common.h │ │ ├── impl │ │ ├── CMakeLists.txt │ │ ├── unix │ │ │ ├── CMakeLists.txt │ │ │ ├── list_ports_linux.cpp │ │ │ ├── lock.c │ │ │ ├── lock.h │ │ │ ├── unix.h │ │ │ ├── unix_serial.cpp │ │ │ └── unix_serial.h │ │ └── windows │ │ │ ├── CMakeLists.txt │ │ │ ├── list_ports_win.cpp │ │ │ ├── win.h │ │ │ ├── win_serial.cpp │ │ │ └── win_serial.h │ │ ├── serial.cpp │ │ └── serial.h ├── csharp │ ├── CMakeLists.txt │ ├── examples │ │ ├── CMakeLists.txt │ │ └── Program.cs │ └── ydlidar_sdk.i ├── doc │ ├── Dataset.md │ ├── Diagram.md │ ├── FAQs │ │ ├── General_FAQs.md │ │ ├── General_FAQs_cn.md │ │ ├── Hardware_FAQs.md │ │ ├── Hardware_FAQs_cn.md │ │ ├── README.md │ │ ├── Software_FAQs.md │ │ └── Software_FAQs_cn.md │ ├── README.md │ ├── SDK.pdf │ ├── Tutorials.md │ ├── YDLIDAR_SDK_API_for_Developers.md │ ├── YDLidar-SDK-Communication-Protocol.html │ ├── YDLidar-SDK-Communication-Protocol.md │ ├── YDLidar-SDK-Communication-Protocol.pdf │ ├── YDLidar_SDK_Communication_Protocol.pdf │ ├── howto │ │ ├── README.md │ │ ├── how_to_build_and_debug_using_vscode.md │ │ ├── how_to_build_and_install.md │ │ ├── how_to_create_a_csharp_project.md │ │ ├── how_to_create_a_pull.md │ │ ├── how_to_create_a_udev_rules.md │ │ ├── how_to_gerenrate_vs_project_by_cmake.md │ │ ├── how_to_solve_slow_pull_from_cn.md │ │ └── images │ │ │ ├── cpack.png │ │ │ ├── csharp_build.png │ │ │ ├── csharp_exception.png │ │ │ ├── csharp_library.png │ │ │ ├── csharp_project.png │ │ │ ├── csharp_running.png │ │ │ ├── sdk_init.png │ │ │ ├── sdk_scanning.png │ │ │ ├── sequence.png │ │ │ ├── ttyUSB0.png │ │ │ ├── ttyUSB1.png │ │ │ ├── vscode │ │ │ ├── run_tasks.jpg │ │ │ └── tasks.png │ │ │ └── ydlidar_lidar_monitor.png │ ├── images │ │ ├── EAI.png │ │ ├── FlowChart.png │ │ ├── YDLidar.jpg │ │ ├── YDLidar.png │ │ ├── angle_q2.png │ │ ├── communication_mechanism.png │ │ ├── frame.png │ │ ├── frame_intensity.png │ │ ├── sdk_architecture.png │ │ ├── sdk_init.png │ │ ├── sdk_scanning.png │ │ ├── sequence.png │ │ └── system_workflow.png │ ├── quickstart │ │ ├── README.md │ │ └── ydlidar_sdk_software_installation_guide.md │ └── tutorials │ │ ├── examine_the_simple_lidar_tutorial.md │ │ ├── writing_lidar_network_adapter_tutorial_c++.md │ │ ├── writing_lidar_tutorial_c++.md │ │ ├── writing_lidar_tutorial_c.md │ │ └── writing_lidar_tutorial_python.md ├── examples │ ├── CMakeLists.txt │ ├── data │ │ ├── lidar0.csv │ │ ├── lidar1.csv │ │ └── lidar2.csv │ ├── et_test.cpp │ ├── gs_ota.cpp │ ├── gs_test.cpp │ ├── gs_test2.cpp │ ├── lidar_c_api_test.c │ ├── scl_test.cpp │ ├── sdm18_test.cpp │ ├── sdm_test.cpp │ ├── tea_test.cpp │ ├── tmini_test.cpp │ ├── tof_test.cpp │ ├── tri_and_gs_test.cpp │ ├── tri_restart.cpp │ └── tri_test.cpp ├── python │ ├── CMakeLists.txt │ ├── examples │ │ ├── CMakeLists.txt │ │ ├── etlidar_test.py │ │ ├── gs_test.py │ │ ├── plot_tof_test.py │ │ ├── plot_ydlidar_test.py │ │ ├── tea_test.py │ │ ├── test.py │ │ ├── tof_test.py │ │ └── tri_test.py │ ├── numpy.i │ ├── test │ │ └── pytest.py │ └── ydlidar_sdk.i ├── setup.py ├── src │ ├── CMakeLists.txt │ ├── CYdLidar.cpp │ ├── CYdLidar.h │ ├── DTSLidarDriver.cpp │ ├── DTSLidarDriver.h │ ├── ETLidarDriver.cpp │ ├── ETLidarDriver.h │ ├── GSLidarDriver.cpp │ ├── GSLidarDriver.h │ ├── SDMLidarDriver.cpp │ ├── SDMLidarDriver.h │ ├── YDlidarDriver.cpp │ ├── YDlidarDriver.h │ ├── filters │ │ ├── CMakeLists.txt │ │ ├── FilterInterface.h │ │ ├── NoiseFilter.cpp │ │ ├── NoiseFilter.h │ │ ├── StrongLightFilter.cpp │ │ └── StrongLightFilter.h │ ├── ydlidar_sdk.cpp │ └── ydlidar_sdk.h ├── startup │ └── initenv.sh ├── test │ ├── CMakeLists.txt │ ├── lidar_test.cpp │ └── lidar_test.h └── ydlidar_config.h.in ├── tortoisebot_bringup ├── CMakeLists.txt ├── launch │ ├── autobringup.launch.py │ └── bringup.launch.py ├── maps │ ├── room2.pgm │ └── room2.yaml └── package.xml ├── tortoisebot_control ├── package.xml ├── resource │ └── tortoisebot_control ├── setup.cfg ├── setup.py ├── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py └── tortoisebot_control │ ├── __init__.py │ └── teleop_twist_keyboard.py ├── tortoisebot_description ├── CMakeLists.txt ├── launch │ ├── display.launch.py │ └── state_publisher.launch.py ├── models │ ├── .DS_Store │ ├── meshes │ │ ├── base_link.dae │ │ ├── camera_holder.dae │ │ ├── camera_link.dae │ │ ├── castor_wheel.dae │ │ ├── lidar.dae │ │ ├── wheel_left.dae │ │ └── wheel_right.dae │ └── urdf │ │ ├── tortoisebot_simple.gazebo │ │ ├── tortoisebot_simple.xacro │ │ └── tortoisebotreal.xacro ├── package.xml ├── rviz │ └── tortoisebot_sensor_display.rviz └── worlds │ └── big_env.sdf ├── tortoisebot_firmware ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── 1ms.py │ └── differential.py └── tortoisebot_firmware │ └── __init__.py ├── tortoisebot_gazebo ├── CMakeLists.txt ├── gazebo │ ├── tortoisebot_materials.gazebo │ ├── tortoisebot_physics.gazebo │ └── tortoisebot_plugins.gazebo ├── launch │ └── gazebo.launch.py ├── package.xml └── worlds │ └── room2.sdf ├── tortoisebot_imu ├── CMakeLists.txt ├── package.xml └── scripts │ └── imu_node.py ├── tortoisebot_navigation ├── CMakeLists.txt ├── config │ ├── nav2_params_robot.yaml │ └── nav2_params_simulation.yaml ├── launch │ └── navigation.launch.py ├── package.xml └── scripts │ └── waypoints.py ├── tortoisebot_slam ├── CMakeLists.txt ├── config │ ├── ekf.yaml │ └── slam.lua ├── launch │ └── cartographer.launch.py └── package.xml ├── v4l2_camera ├── .gitlab-ci.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── include │ └── v4l2_camera │ │ ├── control.hpp │ │ ├── fourcc.hpp │ │ ├── image_format.hpp │ │ ├── parameters.hpp │ │ ├── pixel_format.hpp │ │ ├── v4l2_camera.hpp │ │ ├── v4l2_camera_device.hpp │ │ └── visibility_control.h ├── package.xml └── src │ ├── parameters.cpp │ ├── v4l2_camera.cpp │ ├── v4l2_camera_compose_test.cpp │ ├── v4l2_camera_device.cpp │ └── v4l2_camera_node.cpp └── ydlidar_ros2_driver ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── config └── ydlidar.rviz ├── details.md ├── images ├── EAI.png ├── YDLidar.jpg ├── cmake_error.png ├── finished.png ├── rviz.png └── view.png ├── launch ├── ydlidar.py ├── ydlidar_launch.py └── ydlidar_launch_view.py ├── package.xml ├── params └── ydlidar.yaml ├── src ├── ydlidar_ros2_driver_client.cpp └── ydlidar_ros2_driver_node.cpp └── startup └── initenv.sh /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | 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