Kotochleb/sllidar_ros2

C++BSD-2-Clause

SLAMTEC LIDAR ROS2 Package

ROS2 node for SLAMTEC LIDAR

Visit following Website for more details about SLAMTEC LIDAR:

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

SLAMTEC LIDAR HomePage: http://www.slamtec.com/en/Lidar

SLAMTEC LIDAR SDK: https://github.com/Slamtec/rplidar_sdk

SLAMTEC LIDAR Tutorial: https://github.com/robopeak/rplidar_ros/wiki

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S3
RPLIDAR S2E
RPLIDAR T1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

ROS2 Tutorials Creating a workspace

example, choose the directory name ros2_ws, for "development workspace" :
```
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
```

Compile & Install sllidar_ros2 package

Clone sllidar_ros2 package from github

Ensure you're still in the ros2_ws/src directory before you clone:
```
git clone https://github.com/Slamtec/sllidar_ros2.git
```
Build sllidar_ros2 package

From the root of your workspace (ros2_ws), you can now build sllidar_ros2 package using the command:
```
cd ~/ros2_ws/
source /opt/ros/<rosdistro>/setup.bash
colcon build --symlink-install
```
if you find output like "colcon:command not found",you need separate install colcon build tools.
Package environment setup
```
source ./install/setup.bash
```
Note: Add permanent workspace environment variables. It's convenientif the ROS2 environment variables are automatically added to your bash session every time a new shell is launched:
```
$echo "source <your_own_ros2_ws>/install/setup.bash" >> ~/.bashrc
$source ~/.bashrc
```
Create udev rules for rplidar

sllidar_ros2 running requires the read and write permissions of the serial device. You can manually modify it with the following command:
```
sudo chmod 777 /dev/ttyUSB0
```
But a better way is to create a udev rule:
```
cd src/rpldiar_ros/
source scripts/create_udev_rules.sh
```

Run sllidar_ros2

Run sllidar node and view in the rviz

The command for RPLIDAR A1 is :

ros2 launch sllidar_ros2 view_sllidar_a1_launch.py

The command for RPLIDAR A2M7 is :

ros2 launch sllidar_ros2 view_sllidar_a2m7_launch.py

The command for RPLIDAR A2M8 is :

ros2 launch sllidar_ros2 view_sllidar_a2m8_launch.py

The command for RPLIDAR A2M12 is :

ros2 launch sllidar_ros2 view_sllidar_a2m12_launch.py

The command for RPLIDAR A3 is :

ros2 launch sllidar_ros2 view_sllidar_a3_launch.py

The command for RPLIDAR S1 is :

ros2 launch sllidar_ros2 view_sllidar_s1_launch.py

The command for RPLIDAR S2 is :

ros2 launch sllidar_ros2 view_sllidar_s2_launch.py

ros2 launch sllidar_ros2 view_sllidar_s2e_launch.py

The command for RPLIDAR S3 is :

ros2 launch sllidar_ros2 view_sllidar_s3_launch.py

The command for RPLIDAR T1 is :

ros2 launch sllidar_ros2 view_sllidar_t1_launch.py

The command for RPLIDAR S1(TCP connection) is :

ros2 launch sllidar_ros2 view_sllidar_s1_tcp_launch.py

Notice: different lidar use different serial_baudrate.

RPLIDAR frame

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