Docker Images for RPlidar

The repository includes a GitHub Actions workflow that automatically deploys built Docker images to the husarion/rplidar-docker Docker Hub repositories. This process is based on a fork of the fork of Slamtec/sllidar_ros2repository.

Prepare Environment

1. Plugin the Device

You can use lsusb command to check if the device is visible.

Demo

1. Clone the Repository

   git clone https://github.com/husarion/rplidar-docker.git
   cd rplidar-docker/demo

2. Select the Appropriate Baudrate

   export RPLIDAR_BAUDRATE=<baudrate>

   Replace <baudrate> with appropriate baudrate for your LiDAR from below table.

   Product Name	Baudrate
   RPlidar A2M8	115200
   RPlidar A2M12 / A3 / S1	256000
   RPlidar S2 / S3	1000000

3. Activate the Device

   docker compose up rplidar

4. Launch Visualization

   xhost local:root
   docker compose up rviz

Note

To use the latest version of the image, run the docker compose pull command.

Parameters

Inside the image there is a custom /husarion_utils/astra.launch.py that is not the part of the ROS 2 package for Astra camera. It was added for easy integration with Husarion robots. This launch file contains following parameters:

Parameter	Description	Default Value
launch_file	Name of launch file from repo sllidar_ros2 to run	sllidar_launch.py
serial_baudrate	Baudrate of connected lidar (depend on your RPlidar model)	115200
serial_port	USB port of connected lidar	/dev/ttyUSB0
robot_namespace	Namespace which will appear in front of all topics (including /tf and /tf_static).	env("ROBOT_NAMESPACE") ("" if not specified)
device_namespace	Sensor namespace that will appear before all non absolute topics and TF frames, used for distinguishing multiple cameras on the same robot.	""

Using both device_namespace and robot_namespace makes:

• Topic: /<robot_namespace>/<device_namespace>/<default_topic>
• Topic TF: /<robot_namesace>/tf
• URDF Link: <device_namespace>_link (default: laser)

If any of the namespaces are missing, the field with / is omitted for topics, or replaced with default ones for URDF link.