Not compatible with LDS-02

[dominik-polic]

This package is not compatible with the new LDS-02 lidar sensor, which is I believe the new default sensor that comes with the TurtleBot3, so I propose either adding a disclaimer in the TurtleBot3 E-Manual or adding support for the LDS-02.

I've been tinkering with this issue and the following is the workaround I used to get it working in case anyone else encounters this issue:
Edit lines 33-38 of /turtlebot3_home_service_challenge_tools/launch/turtlebot3_robot_remote.launch on your Remote PC

replace:

<!-- lidar -->
<node machine="tb3" pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
  <param name="port" value="/dev/ttyUSB0" />
  <param name="frame_id" value="$(arg use_robot_name)/$(arg set_lidar_frame_id)"/>
  <remap if="$(arg use_filter)" from="scan" to="scan_raw"/>
</node>

with:

<!-- lidar -->
<node machine="tb3" pkg="ld08_driver" type="ld08_driver" name="turtlebot3_lds" output="screen" args="LD08">
  <param name="frame_id" value="$(arg use_robot_name)/$(arg set_lidar_frame_id)"/>
  <remap if="$(arg use_filter)" from="scan" to="scan_raw"/>
</node>

This will make the LDS-02 work, but it will publish on the base_scan topic due to this issue with the LD08 driver. It is also important to note that this will make it work only with the LDS-02 and the proper solution would be to check which sensor is in use, similar to this: turtlebot3_lidar.launch.

Now for a workaround for the LD08 driver issue, extracted from the above issue. You will have to edit ld08_driver/src/ld08_driver.cpp on your SBC and replace line 62:

scan.header.frame_id = "base_scan";

with:

scan.header.frame_id = "tb3_hsc/base_scan";

and then do a catkin_make.

Depending on your setup, locations of those files could be:
~/catkin_ws/src/turtlebot3_home_service_challenge/turtlebot3_home_service_challenge_tools/launch/turtlebot3_robot_remote.launch on your Remote PC
~/catkin_ws/src/ld08_driver/src on your SBC

and the catkin make command is: cd ~/catkin_ws && catkin_make (run it on your SBC).

I'm relatively new to both ROS and TurtleBot and am still trying to figure everything out so I apologize if I misused some terminology and if I find out any other related problems I will update this issue.