LiDAR point clouds with RViz

Yujin LiDAR tutorial – This is to visualize the point clouds produced by Yujin LiDAR, YRL3-20, using RViz.

The driver comes with a “roslauncher” enabling you to start up everything needed for visualizing point clouds conveniently with a single command. 

$ source /opt/ros/melodic/setup.bash
$ roslaunch yujin_yrl_package driver_rviz.launch --screen

Specifically the launcher starts the following: * The driver as a ROS node * RViz as ROS node provided with a config file to set up the needed view automatically 

For those interested in the details, you find below a step-by-step description for starting up the above nodes and applying the appropriate RViz settings manually.

Analog to the previous tutorial, we need three terminals to run all required applications. 

In the first terminal, source your ROS environment and start the ROS core. 

$ source /opt/ros/melodic/setup.bash
$ roscore

In a second terminal, source your ROS environment making sure that it includes the workspace containing the Yujin YRL package and run the driver. For example: 

$ source /ros/catkin_ws/devel/setup.bash
$ rosrun yujin_yrl_package yrl_pub

In the third terminal, source your ROS environment and start RViz. 

$ source /ros/catkin_ws/devel/setup.bash
$ rosrun rviz rviz

For more information, please find out more information from ROS Wiki page link below :