Perception Development Example

ROS1 Secondary Development

LiDAR Driver Secondary Development

LiDAR drivers are located in the following directories. Users can read the source code for secondary development:

• ~/lite_cog/driver/leishen_ws/
• ~/lite_cog/driver/mid360_ws/
• ~/lite_cog/driver/rslidar_sdk/

SLAM Mapping Secondary Development

The SLAM mapping program is started via start_slam.sh in /home/ysc/lite_cog/system/scripts/slam. The first line starts the mapping program. The corresponding launch file contains parameter configuration files, mainly including point cloud preprocessing parameters, point cloud registration algorithm parameters, and point cloud saving parameters, which users can adjust.

Localization and Navigation Secondary Development

1. Localization Secondary Development: The localization and navigation program is started via start_nav.sh in /home/ysc/lite_cog/system/scripts/nav. The launch file can be found through the script content, containing point cloud preprocessing and registration parameters for user adjustment.

2. Navigation Secondary Development: In /home/ysc/lite_cog/nav/src/navigation/config, there are 6 .yaml files for parameter adjustment:

   • common_costmap_params.yaml: Common parameters for local and global costmaps;
   • global_costmap_params.yaml: Global costmap parameters;
   • local_costmap_params.yaml: Local costmap parameters;
   • global_planner_params.yaml: Global planner parameters;
   • teb_local_planner_params.yaml: TEB local planner parameters;
   • move_base_params.yaml: move_base package parameters.

   Users can refer to: global_planner docs, teb_local_planner docs, costmap_2d docs, move_base docs.

ROS2 Secondary Development

LiDAR Driver Secondary Development

LiDAR drivers are located in:

• ~/lite_cog_ros2/driver/leishen_ws/
• ~/lite_cog_ros2/driver/mid360_ws/
• ~/lite_cog_ros2/driver/rslidar_sdk/

SLAM Mapping Secondary Development

The SLAM mapping program is started via start_slam.sh in /home/ysc/lite_cog_ros2/system/scripts/slam. The launch file contains parameter configuration files for user adjustment.

Localization and Navigation Secondary Development

1. Localization Secondary Development: The program is started via start_nav.sh in /home/ysc/lite_cog_ros2/system/scripts/nav. Parameters can be adjusted in the launch file.

2. Navigation Secondary Development: Parameters can be adjusted in lite_nav2.yaml under /home/ysc/lite_cog_ros2/nav/src/dr_nav2/config. Refer to Navigation2 official documentation for parameter descriptions.