add ros2 driver of hps3d160 lidar of hypersen

test condition

Note !

• software env: eloquent ubuntu18.04
• hardware env: rk3399 arm64
  if on x86,replace libhps3d.so for x86 lib,get by offical hypersen github site.

get project files and script files

• mkdir ~/hypersen_ws/src
• cd ~/hypersen_ws/src
• git clone https://github.com/youngday/hypersen_lidar_ros2
• cd hypersen_lidar_ros2
• cp scripts/* ../../
• cd ~/hyerson_ws

compile and run

• compile

./compile.sh

• run

./run.sh

• on another consle,run

./rviz.sh

self yaml files

you can setup param by change yaml file of config.yaml

reference

• offical lib https://github.com/hypersen/HPS3D_SDK
• fork https://github.com/xmba15/hypersen_lidar
• ros2 examples https://github.com/ros2/examples

end

good luck ! Thanks for all !