https://github.com/robopeak/rplidar_ros
https://github.com/robopeak/rplidar_ros
Last synced: 2 days ago
JSON representation
- Host: GitHub
- URL: https://github.com/robopeak/rplidar_ros
- Owner: robopeak
- License: bsd-2-clause
- Created: 2014-05-06T17:37:34.000Z (almost 11 years ago)
- Default Branch: master
- Last Pushed: 2024-07-18T18:30:46.000Z (9 months ago)
- Last Synced: 2024-11-07T22:41:59.328Z (5 months ago)
- Language: C++
- Size: 397 KB
- Stars: 452
- Watchers: 59
- Forks: 368
- Open Issues: 34
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- License: LICENSE
Awesome Lists containing this project
- awesome - robopeak/rplidar_ros - (C++)
README
RPLIDAR ROS 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
How to build rplidar ros package
=====================================================================
1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build rplidarNode and rplidarNodeClient
How to run rplidar ros package
=====================================================================
There're two ways to run rplidar ros package
I. Run rplidar node and view in the rviz
------------------------------------------------------------
roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2)
or
roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)
You should see rplidar's scan result in the rviz.
II. Run rplidar node and view using test application
------------------------------------------------------------
roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)
or
roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)
rosrun rplidar_ros rplidarNodeClient
You should see rplidar's scan result in the console
Notice: the different is serial_baudrate between A1/A2 and A3
RPLidar frame
=====================================================================
RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png