ROS driver for LitraTech's LTME-01x series 2D laser scanners.

Supported device models:

• LTME-01B (featuring a USB interface)
• LTME-01C (featuring an Ethernet interface, and numerous performance/stability improvements over LTME-01B)

Supported ROS distributions:

• ROS Indigo / Ubuntu 14.04
• ROS Kinetic / Ubuntu 16.04
• ROS Melodic / Ubuntu 18.04

Build and Install

Dependencies

This driver requires the following libraries:

• libudev-dev: Development files for libudev. Install by sudo apt install libudev-dev.

Build the Package

Clone or extract package source to your catkin workspace's src directory, then build the workspace:

cd ~/catkin_ws/src
git clone https://github.com/LitraTech/ltme01_driver.git
cd .. && catkin_make

Notes for Ninja: If you use ninja as the build tool for catkin_make, please edit dep/ltme01_sdk/linux.cmake and add the following line to ExternalProject_Add command:

BUILD_BYPRODUCTS "${CMAKE_CURRENT_BINARY_DIR}/ThirdParty/libusb-1.0.21/lib/libusb-1.0.a"

to prevent ninja from reporting dependency errors. This fix is not incorporated into the source tree primarily for compatibility reasons, as BUILD_BYPRODUCTS was introduced in CMake 3.x, and Ubuntu 14.04 ships CMake 2.8 by default.

Driver Setup

Access USB Device from Non-root Users (LTME-01B Specific)

Under Linux's default system settings, device node for LTME-01B's USB interface is only accessible by root user. You'll have to setup a udev rule for normal users to access the device. This can be done with:

rosrun ltme01_driver create_udev_rules

Basically this command will copy a rule file to /etc/udev/rules.d and then restart udev service. You may need to disconnect and then connect LTME-01B for this to take effect.