Scorpi

Development nodes

Raspberry pi

Raspberry pi 5 installation

• enable serial IO hardware (pin 15,16)

Install packages:

libreadline-dev
libopencv-dev
libgpiod-dev
gpiod
cmake
subversion
aptitude
ntp
ntpdate
nmap
lsof
sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof

YDLidar (S4B)

YDlidar serial connected like this:

YDLIDAR   cable color   Raspberry
1 Vcc (5V)   black        4 (5V)
2 Tx         red          10 (GPIO 16) (RxD)
3 Rx         white        8 (GPIO 15)(TxD)
4 Gnd        Yellow       6 (Ground)
5 M_SCP      Orange       18 (GPIO 5)
6 Dev_enable Green        16 (GPIO 4)
7 M_enable   Blue         12 (GPIO 1)
8 NC         Purple       14 (ground, to use all pins)

Software YDLidar-SDK

From Git repository

$ mkdir -p git
$ cd git
$ git clone https://github.com/YDLIDAR/YDLidar-SDK.git
$ cd YDLidar-SDK
$ mkdir build
$ cd build
$ cmake ..
$ make -j4