https://github.com/pollen-robotics/rplidar_ros
https://github.com/pollen-robotics/rplidar_ros
Last synced: 30 days ago
JSON representation
- Host: GitHub
- URL: https://github.com/pollen-robotics/rplidar_ros
- Owner: pollen-robotics
- License: bsd-2-clause
- Created: 2022-01-21T14:08:12.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2022-10-10T13:21:07.000Z (over 2 years ago)
- Last Synced: 2025-02-16T14:58:31.244Z (3 months ago)
- Language: C++
- Size: 160 KB
- Stars: 2
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Note about this repository
This repository was sent by the RP LIDAR team directly as a temporary fix since the public version at https://github.com/Slamtec/rplidar_ros doesn't work for the RP LIDAR S2 currently.
Once they fix it, this repository will be deleted and we'll use https://github.com/Slamtec/rplidar_ros instead.
# RPLIDAR ROS2 Package
ROS2 node 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 [install ROS2](https://index.ros.org/doc/ros2/Installation)
[ubuntu](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
## How to configuring your ROS 2 environment
[Configuring your ROS 2 environment](https://docs.ros.org/en/foxy/Tutorials/Configuring-ROS2-Environment.html)
## How to Create a ROS2 workspace
[Create a workspace](https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html)
## Compile & Install rplidar_ros2 package
1. Clone rplidar_ros2 package from github :
```bash
git clone -b ros2 https://github.com/slamtec/rplidar_ros.git
```
2. Build rplidar_ros2 package :
```bash
cd
colcon build --symlink-install
```
if you find output like "colcon:command not found",you need separate [install colcon](https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html#install-colcon) build tools.
3. Package environment setup :
```bash
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:
```bash
$echo "source /install/setup.bash" >> ~/.bashrc
$source ~/.bashrc
```
## Run rplidar_ros2
### Run rplidar node and view in the rviz
The command for RPLIDAR A1/A2 is :
```bash
ros2 launch rplidar_ros2 view_rplidar_launch.py
```
The command for RPLIDAR A3 is :
```bash
ros2 launch rplidar_ros2 view_rplidar_a3_launch.py
```
The command for RPLIDAR S1 is :
```bash
ros2 launch rplidar_ros2 view_rplidar_s1_launch.py
```
The command for RPLIDAR S2 is :
```bash
ros2 launch rplidar_ros2 view_rplidar_s2_launch.py
```
The command for RPLIDAR T1 is :
```bash
ros2 launch rplidar_ros2 view_rplidar_t1_launch.py
```
The command for RPLIDAR S1(TCP connection) is :
```bash
ros2 launch rplidar_ros2 view_rplidar_s1_tcp_launch.py
```
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