YDLIDAR T-mini Pro lidar is a 360° 2D lidar (hereinafter referred to as T-mini Pro) developed by Shenzhen EAI Technology Co., Ltd. This product is based on the pulse ToF ranging principle, and is equipped with related optical, electrical, and algorithm designs to achieve high-frequency and high-precision distance measurement. At the same time, the mechanical structure rotates 360 degrees to continuously obtain angle information, thereby achieving 360-degree scanning ranging. , output the point cloud data of the scanning environment.
| Items | Minimum | Default | Maximum | Unit | Remarks |
|---|---|---|---|---|---|
| Ranging frequency | / | 4000 | / | Hz | 4000 ranging times per second |
| Scanning frequency | 6 | 6 | 12 | Hz | PWM signal needs to be connected, and the recommended frequency is 6Hz. |
| Ranging range | 0.02 | / | 12 | m | Indoor environment, and objects with 80% reflectivity |
| Scanning angle | / | 0-360 | / | Deg | / |
| Ranging accuracy | / | 20 | / | mm | When 0.05m <ranging≤12m |
| Pitch angle | 0 | 0.75 | 1.5 | Deg | / |
| Angle resolution | 0.54 | Deg |
Here's how to use it:
Launch a new terminal and enter the command:
ros2 launch ydlidar_ros2_driver ydlidar.launch.py
After launching successfully, the terminal will output the following log information, as shown in the figure:
Then launch a new terminal and enter the command in the terminal:
rviz2
After the rviz visualization software runs successfully, the green data displayed is the laser data scanned by LiDAR.
Message type of scan topic: sensor_msgs/msg/LaserScan.
header: Message header, including timestamp, frame ID and other information.angle_min: The minimum angle for laser scanning.angle_max: The maximum angle of laser scanning.angle_increment: Angle increment of laser scanning.time_increment: Time increment for each laser scan.scan_time: Total time of laser scanning.range_min: the minimum range of laser ranging.