Merge pull request #3 from HuXioAn/master

更正图片链接错误、更新Noetic测试结果、注释SBC版main里对softPwm的包含
ldrobotSensorTeam · Aug 4, 2021 · 505da47 · 505da47
2 parents f9895ab + 385da7f
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diff --git a/PC_ROS_SDK/README_cn.md b/PC_ROS_SDK/README_cn.md
@@ -26,7 +26,7 @@
 
 - `rviz`的内容是使用rviz进行雷达数据的可视化
 
-本SDK使用Ubuntu18.04下的Melodic以及16.04下的Kinetic测试通过。
+本SDK使用Ubuntu18.04下的Melodic，16.04下的Kinetic以及搭载Noetic和Ubuntu20.04 Server的树莓派3B+下测试通过。
 
 ## 使用方法
 

diff --git a/PC_ROS_SDK/README_en.md b/PC_ROS_SDK/README_en.md
@@ -24,15 +24,15 @@ The contents of directory `PC_ROS_SDK` are listed below:
 + `doc` contains the user manual in English and Chinese (LD19 shares the same documents with LD06, pls be awarded)
 + `rviz` contains the file which is used to configure the visualization of radar data
 
-This SDK has been tested in Ubuntu 18.04 with Melodic and Ubuntu 16.04 with    Kinetic.
+This SDK has been tested in Ubuntu 18.04 with Melodic, Ubuntu 16.04 with  Kinetic on PC and Noetic in Ubuntu 20.04 Server on Raspberry Pi3B+.
 
 ## Usage
 
 ### Hardware Preparation
 
 > LDRobot LD19 radar, CP2102 USB to UART Bridge
 
-Link LD19 to the upper computer according to the diagram below(could be found in the section Communication Interface of [user manual](./doc/LDROBOT_LD06_Development manual_v1.0_en.pdf)):
+Link LD19 to the upper computer according to the diagram below(could be found in the section Communication Interface of [user manual](./doc/LDROBOT_LD06_Development_manual_v1.0_en.pdf)):
 
 ![schematic](../pic/en_conne.png)
 
@@ -46,7 +46,7 @@ The SDK requires installed ROS, Ubuntu:18.04、16.04，ROS: Melodic、Kinetic ar
 
 The whole process could be conducted with a normal user's account, however, the **authority of using the ttyUSB device is a necessity**.
 
-For setting the access please refer to the [User Manual Section 5.1: Set Access](./doc/LDROBOT_LD06_Development manual_v1.0_en.pdf)
+For setting the access please refer to the [User Manual Section 5.1: Set Access](./doc/LDROBOT_LD06_Development_manual_v1.0_en.pdf)
 
 So far, all the preparation is done.
 
@@ -68,5 +68,5 @@ You can make use of `nohup` to let the SDK runs in the background.
 
 ## Example
 
-An example of using rviz to visualize real time data from LD19 is in the [chapter 5 of User Manual](./doc/LDROBOT_LD06_Development manual_v1.0_en.pdf).
+An example of using rviz to visualize real time data from LD19 is in the [chapter 5 of User Manual](./doc/LDROBOT_LD06_Development_manual_v1.0_en.pdf).
 
diff --git a/...ROBOT_LD06_Development manual_v1.0_en.pdf → ...ROBOT_LD06_Development_manual_v1.0_en.pdf b/...ROBOT_LD06_Development manual_v1.0_en.pdf → ...ROBOT_LD06_Development_manual_v1.0_en.pdf
diff --git a/SBC_ROS_SDK/README_cn.md b/SBC_ROS_SDK/README_cn.md
@@ -16,7 +16,7 @@
 
 - `src`包含SDK源码
 
-- `doc`下是Raspbian_ROS[开发手册](./doc/LDRobot_LD19 Raspbian User manual_V2.3.pdf)（LD19与LD06手册通用，名称有差异）
+- `doc`下是Raspbian_ROS[开发手册](./doc/LDRobot_LD19_Raspbian_User_manual_V2.3.pdf)（LD19与LD06手册通用，名称有差异）
 
 - `rviz`的内容是使用rviz进行雷达数据的可视化
 
@@ -50,7 +50,7 @@ LD19采用ZH1.5T-4P 1.5mm接口。其中PWM信号**可以悬空不接**，此时
 
 此SDK需要上位机安装好ROS，由于种种原因，在SBC上安装ROS会遇到比较多的困难，可以考虑使用Ubuntu系统，或者直接使用他人编译的已经安装ROS的系统镜像。开发手册内描述的ROS安装方法为下载源码本地编译，需要较好的网络条件。
 
-树莓派需要在系统配置页面使能串口，不然将不会在`/dev/`下看到对应的tty设备。具体操作参见`doc`目录下使用手册第四章：[START SERIAL ttyS0](./doc/LDRobot_LD19 Raspbian User manual_V2.3.pdf)。
+树莓派需要在系统配置页面使能串口，不然将不会在`/dev/`下看到对应的tty设备。具体操作参见`doc`目录下使用手册第四章：[START SERIAL ttyS0](./doc/LDRobot_LD19_Raspbian_User_manual_V2.3.pdf)。
 
 开发手册中提到的`WiringPi`与`udev`库并不是必须的，可以跳过安装。
 
@@ -76,5 +76,5 @@ LD19采用ZH1.5T-4P 1.5mm接口。其中PWM信号**可以悬空不接**，此时
 
 ## 使用实例
 
-一个使用rviz将雷达数据实时可视化的例子，请参阅[开发手册第五章](./doc/LDRobot_LD19 Raspbian User manual_V2.3.pdf)。
+一个使用rviz将雷达数据实时可视化的例子，请参阅[开发手册第五章](./doc/LDRobot_LD19_Raspbian_User_manual_V2.3.pdf)。
 
diff --git a/SBC_ROS_SDK/README_en.md b/SBC_ROS_SDK/README_en.md
@@ -18,7 +18,7 @@ The contents of directory SBC_ROS_SDK` are listed below:
 ```
 
 + `src` contains the source code of SDK
-+ `doc` contains the [Raspbian User manual](./doc/LDRobot_LD19 Raspbian User manual_V2.3.pdf) in English (LD19 shares the same documents with LD06, pls be awarded)
++ `doc` contains the [Raspbian User manual](./doc/LDRobot_LD19_Raspbian_User_manual_V2.3.pdf) in English (LD19 shares the same documents with LD06, pls be awarded)
 + `rviz` contains the file which is used to configure the visualization of radar data
 
 This SDK has been tested on Raspberry Pi 3B+ with Kinetic in Raspbian 9 and Noetic in Ubuntu 20.04 Server.
@@ -31,7 +31,7 @@ This SDK has been tested on Raspberry Pi 3B+ with Kinetic in Raspbian 9 and Noet
 
 Link LD19 to the upper computer according to the diagram below:
 
-![schematic](G:%5CLD06%5Cgithub%5Cld19%5Cpic%5Cen_conne.png)
+![schematic](../pic/en_conne.png)
 
 LD19 adopt ZH1.5T-4P 1.5mm connector. The PWM signal, namely the second pin, need not to be attached to certain GPIO if you're not going to control the revolving speed.
 
@@ -51,7 +51,7 @@ Attatch `GND` and `P5V` to corresponding Pins on the SBC, `TX` to the UART RX GP
 
 The SDK requires installed ROS, but you may encounter some problems if you manually install ROS on SBC. Advice is that you can try Ubuntu Mate or download system imager with compiled ROS. You can refer to the Manual for detailed direction of installation.
 
-Raspberry Pi's Serial peripheral needs to be enabled, otherwise there won't be corresponding tty device in directory `/dev`, refer to [chapter 4 of Manual](./doc/LDRobot_LD19 Raspbian User manual_V2.3.pdf) for details.
+Raspberry Pi's Serial peripheral needs to be enabled, otherwise there won't be corresponding tty device in directory `/dev`, refer to [chapter 4 of Manual](./doc/LDRobot_LD19_Raspbian_User_manual_V2.3.pdf) for details.
 
 The `wiringPi` and `udev` libraries mentioned in the Manual are unnecessary. They could be ignored.
 
@@ -79,5 +79,5 @@ You can make use of `nohup` to let the SDK runs in the background.
 
 ## Example
 
-An example of using rviz to visualize real time data from LD19 is in the [chapter 5 of User Manual](./doc/LDRobot_LD19 Raspbian User manual_V2.3.pdf).
+An example of using rviz to visualize real time data from LD19 is in the [chapter 5 of User Manual](./doc/LDRobot_LD19_Raspbian_User_manual_V2.3.pdf).
 
diff --git a/...DRobot_LD19 Raspbian User manual_V2.3.pdf → ...DRobot_LD19_Raspbian_User_manual_V2.3.pdf b/...DRobot_LD19 Raspbian User manual_V2.3.pdf → ...DRobot_LD19_Raspbian_User_manual_V2.3.pdf
diff --git a/SBC_ROS_SDK/src/ldlidar/src/main.cpp b/SBC_ROS_SDK/src/ldlidar/src/main.cpp
@@ -3,7 +3,7 @@
 #include <string.h>
 #include <iostream>
 //#include <wiringPi.h>
-#include <softPwm.h>
+//#include <softPwm.h>
 #include "cmd_interface_linux.h"
 #include <ros/ros.h>
 #include <sensor_msgs/LaserScan.h>