release v2.0.0

Slamtec · Oct 27, 2021 · b0aa896 · b0aa896
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,11 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package rplidar_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+1.10.0 (2021-10-27)
+------------------
+* Update RPLIDAR SDK to 2.0.0
+* [new feature] 1.redesign the skelton of the sdk. 2.support Rplidar S2
+* Contributors: tony,WubinXia
 
 1.10.0 (2019-02-22)
 ------------------

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 2.8.3)
 project(rplidar_ros)
 
 set(RPLIDAR_SDK_PATH "./sdk/")
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 
 FILE(GLOB RPLIDAR_SDK_SRC 
   "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"

diff --git a/README.md b/README.md
@@ -27,8 +27,10 @@ I. Run rplidar node and view in the rviz
 roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2)
 ,
 roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)
-or
+,
 roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1)
+or
+roslaunch rplidar_ros view_rplidar_s2.launch (for RPLIDAR S2)
 
 You should see rplidar's scan result in the rviz.
 
@@ -37,14 +39,16 @@ II. Run rplidar node and view using test application
 roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)
 ,
 roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)
-or
+,
 roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)
+or
+roslaunch rplidar_ros rplidar_s2.launch (for RPLIDAR S2)
 
 rosrun rplidar_ros rplidarNodeClient
 
 You should see rplidar's scan result in the console
 
-Notice: the different is serial_baudrate between A1/A2 and A3/S1
+Notice: the different is serial_baudrate between A1/A2<115200> , A3/S1<256000> and S2<1000000>
 
 RPLidar frame
 =====================================================================

diff --git a/launch/rplidar_s2.launch b/launch/rplidar_s2.launch
@@ -0,0 +1,9 @@
+<launch>
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
+  <param name="serial_baudrate"     type="int"    value="1000000"/>
+  <param name="frame_id"            type="string" value="laser"/>
+  <param name="inverted"            type="bool"   value="false"/>
+  <param name="angle_compensate"    type="bool"   value="true"/>
+  </node>
+</launch>
diff --git a/launch/rplidar_t1.launch b/launch/rplidar_t1.launch
@@ -0,0 +1,10 @@
+<launch>
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+  <param name="channel_type"        type="string" value="udp"/>  
+  <param name="udp_ip"              type="string" value="192.168.11.2"/>  
+  <param name="udp_port"            type="int"    value="8089"/>
+  <param name="frame_id"            type="string" value="laser"/>
+  <param name="inverted"            type="bool"   value="false"/>
+  <param name="angle_compensate"    type="bool"   value="true"/>
+  </node>
+</launch>
diff --git a/launch/view_rplidar_s2.launch b/launch/view_rplidar_s2.launch
@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.  
+  
+  It requires rplidar.launch.
+ -->
+<launch>
+  <include file="$(find rplidar_ros)/launch/rplidar_s2.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
+</launch>
diff --git a/launch/view_rplidar_t1.launch b/launch/view_rplidar_t1.launch
@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.  
+  
+  It requires rplidar.launch.
+ -->
+<launch>
+  <include file="$(find rplidar_ros)/launch/rplidar_t1.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
+</launch>
diff --git a/sdk/Makefile b/sdk/Makefile
@@ -0,0 +1,67 @@
+#/*
+# *  RPLIDAR SDK
+# *
+# *  Copyright (c) 2009 - 2014 RoboPeak Team
+# *  http://www.robopeak.com
+# *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
+# *  http://www.slamtec.com
+# *
+# */
+#/*
+# * Redistribution and use in source and binary forms, with or without
+# * modification, are permitted provided that the following conditions are met:
+# *
+# * 1. Redistributions of source code must retain the above copyright notice,
+# *    this list of conditions and the following disclaimer.
+# *
+# * 2. Redistributions in binary form must reproduce the above copyright notice,
+# *    this list of conditions and the following disclaimer in the documentation
+# *    and/or other materials provided with the distribution.
+# *
+# * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+# * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+# * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+# * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+# *
+# */
+#
+HOME_TREE := ../
+
+MODULE_NAME := $(notdir $(CURDIR))
+
+include $(HOME_TREE)/mak_def.inc
+
+CXXSRC += src/sl_lidar_driver.cpp \
+          src/hal/thread.cpp\
+          src/sl_crc.cpp\
+	      src/sl_serial_channel.cpp\
+	      src/sl_tcp_channel.cpp\
+	      src/sl_udp_channel.cpp
+
+C_INCLUDES += -I$(CURDIR)/include -I$(CURDIR)/src
+
+ifeq ($(BUILD_TARGET_PLATFORM),Linux)
+CXXSRC += src/arch/linux/net_serial.cpp \
+          src/arch/linux/net_socket.cpp \
+          src/arch/linux/timer.cpp 
+endif
+
+
+ifeq ($(BUILD_TARGET_PLATFORM),Darwin)
+CXXSRC += src/arch/macOS/net_serial.cpp \
+          src/arch/macOS/net_socket.cpp \
+          src/arch/macOS/timer.cpp
+endif
+
+all: build_sdk
+
+include $(HOME_TREE)/mak_common.inc
+
+clean: clean_sdk
diff --git a/sdk/README.txt b/sdk/README.txt
@@ -1,5 +1,5 @@
 Copyright (c) 2009 - 2014 RoboPeak Team
-Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
+Copyright (c) 2014 - 2021 Shanghai Slamtec Co., Ltd.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -29,6 +29,6 @@ This folder contains RPLIDAR SDK source code which is provided by RoboPeak.
 
 RoboPeak Website: http://www.robopeak.com
 SlamTec HomePage: http://www.slamtec.com
-RPLIDAR_SDK_VERSION:	1.10.0
+RPLIDAR_SDK_VERSION:	2.0.0
 Note: The SDK version may not up-to-date.
 rplidar product: http://www.slamtec.com/en/Lidar
diff --git a/sdk/include/rplidar.h b/sdk/include/rplidar.h
@@ -41,4 +41,4 @@
 
 #include "rplidar_driver.h"
 
-#define RPLIDAR_SDK_VERSION  "1.12.0"
+#define SLAMTEC_LIDAR_SDK_VERSION  SL_LIDAR_SDK_VERSION