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Compling

This tutorial assumes that Ubuntu 24.04 LTS has already been installed.

Prerequisites

  1. Install ROS 2 Jazzy ensure that the development tools are installed.

  2. Install Packages for LiDAR:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/Slamtec/sllidar_ros2.git
cd ..
colcon build --symlink-install
cd src/rpldiar_ros/
source scripts/create_udev_rules.sh

Do not install rplidar_ros, as it appears to be out of date.

Build

Clone the project and run the following commands:

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone --recurse-submodules https://gitlab.com/lgdxrobotics/lgdxrobot2-ros2
rosdep update
rosdep install --from-paths lgdxrobot2-ros2 --ignore-src -y
cd ..
colcon build --symlink-install

Configuration

First, add the user to the dialout group to allow access to the controller board.

sudo usermod -a -G dialout $USER

Then, source the setup files for the ROS 2 workspaces.

source ~/lgdx_ws/install/setup.bash
source ~/ros2_ws/install/setup.bash