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LiDAR Sensor ​

Warning

The device tests below are verified in the ROS2 environment. Please refer to the Tool Installation section to install all ROS-related tools.

Laser LDS-50C-E ​

Preparation ​

  • Rhino Pi-X1
  • Laser LDS-50C-E BlueSea LiDAR
  • 12V power supply for the LiDAR

Hardware Connection and Network Configuration ​

Connect the LiDAR to a 12V power supply, and connect its Ethernet port to any Ethernet port of Rhino Pi-X1. Configure a temporary IP address (you can use the ifconfig command for temporary IP configuration).

The LDS-50C-E and Rhino Pi-X1 are connected via a standard Ethernet interface with a network cable. To ensure normal communication between the LiDAR and Rhino Pi-X1, they must be on the same network segment. The factory settings of the LiDAR are as follows:

  • LiDAR IP Address: 192.168.158.98
  • LiDAR Subnet Mask: 255.255.255.0
  • LiDAR Gateway: 192.168.158.1
  • LiDAR Default Upload Address: 192.168.158.15

The network settings for Rhino Pi-X1 are as follows:

shell
adb root // Obtain root privileges
adb shell // Enter the system
/vendor/bin/lan_wan_config.sh set 1 192.168.158.15 1500 // Configure IP for the hybrid system
/etc/lan_wan_config.sh set 1 192.168.158.15  // Configure IP for the Ubuntu-only system
  • Ethernet Port IP Address: 192.168.158.15
  • Ethernet Port Subnet Mask: 255.255.255.255.0
  • Ethernet Port Gateway: 192.168.158.1

After connecting the network cable and configuring the IP address, use the Ping command to check if the network is connected.

Obtain and Build the BlueSea ROS2 Driver Package ​

Open the Ubuntu Desktop via the VNC tool and execute the following commands in sequence:

  • Obtain the BlueSea ROS2 driver program from GitHub and deploy it to the corresponding directory
shell
sudo su  // Password: aidlux

mkdir bluesea2
cd bluesea2 
git clone https://github.com/BlueSeaLidar/bluesea-ros2.git  src
  • Install dependencies
shell
sudo apt update
sudo apt install -y python3-colcon-common-extensions
  • Build the package
shell
colcon build
  • Update the current ROS2 package environment
shell
source ./install/setup.sh
  • Run the driver using ROS2 launch
shell
ros2 launch bluesea2 udp_lidar.launch

Testing ​

Open the Ubuntu Desktop via the VNC tool and execute the following commands in sequence:

  • Data Verification: Check if the scan data is output normally
shell
ros2 topic echo /scan

  • Open the visualization tool RViz2
shell
rviz2
  • After opening, click the following buttons in sequence to launch the visualization interface LDS50C-keshihua.png

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