README.md

RPLIDAR ROS package

ROS node and test application for RPLIDAR

Visit following Website for more details about RPLIDAR:

rplidar roswiki: http://wiki.ros.org/rplidar

rplidar HomePage: http://www.slamtec.com/en/Lidar

rplidar SDK: https://github.com/Slamtec/rplidar_sdk

rplidar Tutorial: https://github.com/robopeak/rplidar_ros/wiki

How to build rplidar ros package

1) Clone this project to your colcon workspace src folder
2) Install Eloquent ROS2 and colcon compiler.

source /opt/ros/eloquent/setup.sh
colcon build --symlink-install

How to run rplidar ros package

There're two ways to run rplidar ros package Note! Just test for RPLIDAR A1/A2,not test A3 and S1,need your test. I. Run rplidar node and view in the rviz

At first console,

source ./install/setup.bash
ros2 run rplidar_ros rplidarNode 

At second console,

source ./install/setup.bash
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0  world laser_frame  

At third console,

source ./install/setup.bash
rviz2 ./install/rplidar_ros/share/rplidar_ros/rviz/rplidar.rviz

Rviz set, note! set frame into laser_frame ,not laser add laser scan You should see rplidar's scan result in the rviz.

II. Run rplidar node and view using test application

source ./install/setup.bash
ros2 run rplidar_ros rplidarNodeClient 

You should see rplidar's scan result in the console

Notice: the different is serial_baudrate between A1/A2 and A3/S1

RPLidar frame

RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png