QUYVN/DriverLIdar
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553b07147ba89390340e596c9c6e55d66f1254ca
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2 Commits

Author SHA1 Message Date
loctv
553b07147b fix(olei): LR-1BS5 device 0° is at the rear — add the 180° angle offset 
Field-verified on an OLELR-1BS5 unit: with offset 0 the SLAM pose moved
correctly but the estimated heading came out 180° from the direction of
travel (the classic rotated-sensor-frame signature). The 1BS5 numbers
its angles from the rear like its LR-1F/LR-1FMI siblings, so it gets the
same angle_offset_deg = 180 so that driver output 0° = ahead.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
 2026-07-22 15:02:28 +07:00
loctv
5b2c74bd36 refactor: restructure lidarlib into xlidar-driver plugin SDK 
- LidarManager facade (liblidar_manager.so): dlopen plugin discovery,
  available_drivers map<driver_id, PluginRegistry>, create_lidar_device,
  config.json load/save with legacy lidarlib migration
- Common LidarDriverInterface + DriverInfo/DeviceConfig plugin ABI
  (extern C get_driver_info / create_driver_instance)
- Plugins: driver_rplidar (ported from xlocd, Slamtec SDK), driver_olei,
  driver_sick_code (TiM CoLa-A), driver_sick_safety (nanoScan3), driver_espe
- Diagnostics extended with rplidar health + firmware; FOV filter window,
  range override and legacy remap window unified in DeviceConfig
- Rewritten README, diagnostics doc and examples (list_drivers, example,
  lidar_app)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
 2026-07-12 22:30:56 +07:00