This driver package provides core functionality for point cloud SLAM applications and targets specific use cases. It is intended exclusively for technical professionals conducting secondary development. End users must perform scenario-specific optimization and custom development to align with operational requirements in practical deployment environments.

1. Version

Current Version: v0.1

2. Preparation

2.1 OS Requirement

● Ubuntu 18.04 for ROS Melodic;

● Ubuntu 20.04 for ROS Noetic and ROS2 Foxy;

● Ubuntu 22.04 for ROS2 Humble;

2.2 Dependencies

● Opencv

● yaml-cpp

● thread

● OpenSSL

● Eigen3

2.3 Dependencies Install

2.3.1 System

sudo apt update
sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

2.3.2 yaml-cpp

sudo apt update
sudo apt install -y libyaml-cpp-dev

2.3.3 libusb

sudo apt update
sudo apt install -y libusb-1.0-0-dev

2.3.4 opencv

sudo apt update
sudo apt-get install libopencv-dev

2.3.4 ROS install

#Installation method
For ROS Melodic installation, please refer to: ROS Melodic installation instructions
For ROS Noetic installation, please refer to: ROS Noetic installation instructions
For ROS2 Foxy installation, please refer to: ROS Foxy installation instructions
For ROS2 Humble installation, please refer to: ROS Humble installation instructions

3. Preparation

3.1 Create Udev rules

sudo vim /etc/udev/rules.d/99-odin-usb.rules

Add the following content to the 99-odin-usb.rules file

SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev

Reload rules and reinsert devices

sudo udevadm control --reload
sudo udevadm trigger

3.2 OS Requirement

git clone https://github.com/manifoldsdk/odin_ros_driver.git catkin_ws/src/odin_ros_driver

Note: Please clone the source code into the "[workspace]/src/" folder, otherwise compilation errors will occur.

3.3 make

3.3.1 ROS1 (Noetic for example):

source /opt/ros/noetic/setup.sh
./scripty/build_ros.sh

3.3.2 ROS2 (Foxy for example):

source /opt/ros/foxy/setup.sh
./scripty/build_ros2.sh

3.4 run:

3.4.1 ROS1 (Noetic for example):

source ../../devel/setup.sh
roslaunch odin_ros_driver [launch file]

● odin_ros_driver: package name;

● launch file: launch file;

ROS1 Demo Launch Instructions:

roslaunch odin_ros_driver odin1_ros1.launch

3.4.2 ROS2 (Foxy for example):

source ../../install/setup.sh
ros2 launch odin_ros_driver [launch file]

● odin_ros_driver: package name;

● launch file: launch file;

ROS2 Demo Launch Instructions:

ros2 launch odin_ros_driver odin1_ros2.launch.py

4. File structure and data format

4.1 File structure

Odin_ROS_Driver/                // ROS1/ROS2 driver package
    3rdparty/                   // Third-party libraries
    src/
        host_sdk_sample.cpp     // Example source code
        yaml_parser.cpp         // Source code for reading yaml parameters
    lib/
        liblydHostApi_amd.a     // Static library for AMD platform
        liblydHostApi_arm.a     // Static library for ARM platform
    include/
        host_sdk_sample.h       // Example header file
        lidar_api_type.h        // API data structure header file
        lidar_api.h             // API function declarations
        yaml_parser.h           // Parameter file reading header file
    config/
        control_command.yaml    // control parameter file for driver
    launch_ROS1/
        odin1_ros1.launch       // ROS1 launch file
    launch_ROS2/
        odin1_ros2.launch.py    // ROS2 launch file
    script/
        build_ros1.sh           // Installation script for ROS1
        build_ros2.sh           // Installation script for ROS2
    README.md                   // Usage instructions
    CMakeLists.txt              // CMake build file
    License                     // License file

4.2 File structure

Launch File Name	Description
odin1_ros1.launch	Launch file for ROS1 - Odin1 Basic Operations Demo
odin1_ros2.launch.py	Launch file for ROS2 - Odin1 Basic Operations Demo

4.3 Config file

Internal parameters of the Odin ROS driver are defined in config/control_command.yaml. Below are descriptions of the commonly used parameters:

Parameter	Detailed Description	Default
streamctrl: 1	Master data stream control (0: OFF, 1: ON)	1
sendrgb:1	RGB image stream control (0: OFF, 1: ON)	1
sendimu:1	IMU (Inertial Measurement Unit) stream control (0: OFF, 1: ON)	1
sendodom:1	Odometry data stream control (0: OFF, 1: ON)	1
senddtof:0	Raw PointCloud sensor stream control (0: OFF, 1: ON)	0
sendcloudslam:1	Slam PointCloud stream control (0: OFF, 1: ON)	1

4.4 ROS topics

Internal parameters of the Odin ROS driver are defined in config/control_command.yaml. Below are descriptions of the commonly used parameters:

Topic	Detailed Description
odin1/imu	Imu Topic
odin1/image	RGB Camera Topic
odin1/cloud_raw	Raw_Cloud Topic
odin1/cloud_slam	Slam_PointCloud Topic
odin1/odometry_map	Odom Topic

5. FAQ

5.1 Segmentation fault upon re-launching host SDK

Error Message
Core dump occurs when restarting host SDK after initial successful run

Solution

power cycle Odin1 # Disconnect and reconnect LiDAR power
reinitialize host SDK # Execute SDK after device reboot

5.2 Library binding failure during compilation

Error Message
ld: cannot find -llydHostApi or symbol lookup errors

Resolution

Clean previous build artifacts
ROS1 rm -rf devel/ build/
ROS2 rm -rf devel/ install/ log/
Re-run script installation (refer to section 2.3)

5.3 Docker GUI passthrough failure

Error Message
Unable to open X display or No protocol specified

Resolution

xhost + #This command enables graphical passthrough to Docker containers