Update to v1.0.6

unitreerobotics · Jun 19, 2023 · 1319e77 · 1319e77
1 parent d92b5f9
commit 1319e77
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Showing 6 changed files with 22 additions and 5 deletions.
diff --git a/.gitignore b/.gitignore
@@ -6,4 +6,7 @@ unitree_lidar_ros/src/CMakeLists.txt
 
 unitree_lidar_ros2/build
 unitree_lidar_ros2/install
-unitree_lidar_ros2/log
+unitree_lidar_ros2/log
+
+unitree_lidar_sdk/bin
+unitree_lidar_sdk/build
diff --git a/unitree_lidar_sdk/README.md b/unitree_lidar_sdk/README.md
@@ -136,5 +136,12 @@ sudo usermod -a -G dialout $USER
 - Support firmware version: 1.0.1
 
 ### v1.0.5 (2023.06.05)
-- Update default rotate_yaw_bias to calibrated value -38.5 degree.
-- Update `README.md` with notice to solve the "Permission denied" error while opening serial port.
+- Support firmware version: 1.0.1
+- Update default `rotate_yaw_bias` to calibrated value `-38.5` degree.
+- Update `README.md` with notice to solve the "Permission denied" error while opening serial port.
+
+### v1.0.6 (2023.06.19)
+- Support firmware version: 1.0.1
+- Modify the `initialize()` function to check whether the specified serial port exist. 
+- If the serial port name does not exist, initialization fails and `return -1` rather than throw out an error unexpectedly。
+- Add z bias to lidar basis plane
diff --git a/unitree_lidar_sdk/examples/example_lidar.cpp b/unitree_lidar_sdk/examples/example_lidar.cpp
@@ -8,8 +8,13 @@ using namespace unitree_lidar_sdk;
 
 int main(){
 
+  // Initialize Lidar Object
   UnitreeLidarReader* lreader = createUnitreeLidarReader();
-  lreader->initialize(5, "/dev/ttyUSB0");
+  int cloud_scan_num = 5;
+  std::string port_name = "/dev/ttyUSB0";
+  if ( lreader->initialize(cloud_scan_num, port_name) ){
+    exit(-1);
+  }
 
   // Print Lidar Version
   while(true){

diff --git a/unitree_lidar_sdk/include/unitree_lidar_sdk.h b/unitree_lidar_sdk/include/unitree_lidar_sdk.h
@@ -100,8 +100,10 @@ class UnitreeLidarReader{
 
   /**
    * @brief Initialize 
+   * @return Return 0 if the serial port is opened successfully; 
+   * return -1 if we failed to open the serial port.
    */
-  virtual void initialize( 
+  virtual int initialize( 
       uint16_t cloud_scan_num = 18,
       std::string port = "/dev/ttyUSB0", 
       uint32_t baudrate = 2000000,

diff --git a/unitree_lidar_sdk/lib/aarch64/libunitree_lidar_sdk.a b/unitree_lidar_sdk/lib/aarch64/libunitree_lidar_sdk.a
diff --git a/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a b/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a