Robot Operating System (ROS) Compatible Low Cost Rotating Light Detection and Ranging (Lidar) Design

摘要

Robot Operating system (ROS) is collection of software frameworks for robot software development. Researchers that work with ROS will have an opportunity to use or to be exact to reuse any software framework from another researcher as long as they use a similar robot platform, or similar device that has been include in the ROS. This paper present a design for a low cost rotating Lidar that compatible with ROS. As all we know distance measurement is the basic for building an autonomous capability for robots. Rotating lidar is among one the most popular device used to acquire this kind of information. However most of them are not suitable for low budget project because of their high cost. The design presented here tries to build a low cost rotating lidar based on Lidar Lite device with the compatibility with the ROS. The design incorporate a control board based on a microcontroller.