LIDAR Software

There are two types of software: Firmware and "PC Software".
You can find both them here: https://github.com/iliasam/OpenSimpleLidar/releases

Firmware

Firmware is MCU program. It is build from source code; after compilation you will get single "*.HEX" file, which could be loaded to the MCU by programmer.

There are four different firmware files for different tasks.

• "test_encoder_blinking" - Testing code - link LED several times after power up, and then blinking LED when encoder event occurs.
  See link for a HEX file: LINK
• "test1_capture_image" - Testing code - capture image from linear image sensor and send it to PC.
  Laser is off most of the time.
  See link for a HEX file: LINK
• "test2_capture_image" - Testing code - the same as "test1_capture_image" but laser is ON most of the time. This is MORE dangerous for eyes than is "test1_capture_image"! Could be used if you want to see IR laser beam by a phone camera.
• "lidar4_main_code" - Main LIDAR firmware.
  See link for a HEX file: LINK

PC Software

There are two different utilities for Lidar Testing.
See more information here: https://github.com/iliasam/OpenSimpleLidar/tree/master/PC_utility

ROS

You will need ROS to control robot movement and to build a map.
There is a special ROS driver (node) which is used for converting Lidar UART data to ROS messages.
You can find this source files of this driver here: https://github.com/iliasam/OpenSimpleLidar/tree/master/ROS/roomba_lidar
You will have to build this driver by "make" command before using it.
You will need to run ROS launch file to start this driver: https://github.com/iliasam/OpenSimpleLidar/blob/master/ROS/lidar_num4.launch
You must change port settings at this file, also you must change "a_coef" and "b_coef" values. This parameters are calculated during lidar calibration.