kadlu/rplidar_ros

RPLIDAR ROS 2 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

Getting Started

1. Clone this project to your colcon workspace src folder.
2. Build the package: colcon build --symlink-install

Running the Package

There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz

RPLIDAR A1/A2: ros2 launch rplidar_ros view_rplidar.launch.py

RPLIDAR A3: ros2 launch rplidar_ros view_rplidar_a3.launch.py

RPLIDAR S1: ros2 launch rplidar_ros view_rplidar_s1.launch.py

II. Run rplidar node and view using test application

RPLIDAR A1/A2: ros2 launch rplidar_ros rplidar.launch.py OR ros2 run rplidar_ros rplidar_composition

RPLIDAR A3: ros2 launch rplidar_ros rplidar_a3.launch.py

RPLIDAR S1: ros2 launch rplidar_ros rplidar_s1.launch.py

Frame Orientation