RPLIDAR ROS package
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ROS node and test application for RPLIDAR
Visit following Website for more details about RPLIDAR:
rplidar HomePage: http://www.slamtec.com/en/Lidar
rplidar SDK: https://github.com/Slamtec/rplidar_sdk
How to build rplidar ros package
1) Clone this project to your workspace src folder
2) Running `colcon build` to build `rplidarNode` and `rplidarNodeClient`
Node parameters:
serial_port- (string, default:/dev/ttyUSB0) serial port name used in your system.serial_baudrate- (int, default:115200) serial port baud rate.frame_id- (string, default:laser_frame) frame ID for the device.inverted- (bool, default:false) indicated whether the LIDAR is mounted inverted.angle_compensate- (bool, default:false) indicated whether the driver needs do angle compensation.scan_mode- (string, default: empty) the scan mode of lidar.
Node services:
stop_motor(std_srvs/Empty) Call the serive to stop the motor of rplidar.start_motor(std_srvs/Empty) Call the service to start the motor of rplidar.
How to run rplidar ros package
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There are launch files for RpLidar models:
- for RPLIDAR A1/A2
ros2 launch rplidar_ros rplidar.launch.py - for RPLIDAR A3
ros2 launch rplidar_ros rplidar_a3.launch.py - for RPLIDAR S1
ros2 launch rplidar_ros rplidar_s1.launch.py
For every launch file, the output scans are available on /scan topic.
Notice: the difference is serial_baudrate between A1/A2 and A3/S1
RPLidar frame
RPLidar frame must be broadcasted according to picture shown below
For RpLidar A1:
For RpLidar A2:
