9. VLP-16 LiDAR Workspace

This repository contains the codebase for setting up the VLP-16 LiDAR Workspace.

9.1. Building docker image

1. Clone the repository:

   git clone https://github.com/YuZhong-Chen/LLM-Navigation.git
   

2. Build the docker image:

   cd LLM-Navigation/vlp_ws/docker
   docker compose pull
   docker compose up -d --build
   

9.2. Test in simulation environment

1. Attach to the container:

   docker attach ros2-vlp-ws
   

2. Launch the world:

   ros2 launch velodyne_description example.launch.py
   

3. Launch LiDAR driver:

   ros2 launch vlp_cartographer vlp_driver.launch.py is_sim:=True
   

9.3. Test on real robot

1. LiDAR driver Bringup script:

   docker exec -it ros2-vlp-ws /home/ros2-essentials/vlp_ws/scripts/lidar-driver-bringup.sh
   

2. LiDAR SLAM test bringup script:

   docker exec -it ros2-vlp-ws /home/ros2-essentials/vlp_ws/scripts/lidar-slam-bringup.sh
   

Note

For more details, please refer to the README.md file in the repository.