2D Laser Scanner (LIDAR) ROS node. Broadcasts each scan result into a ROS topic. Each result conceptually looks like this:
xxxxxx
x xxx
x xx
x x
x xx
x xxxxxx
x xxx
xxxx xx
xx o xx
xx x
xx x
xx x
xx xxxxx xx
xxxxxx xxxx xxx
xxxxxxxx xx
xxx
Where:
- the
o
is the lidar sensor itself ("origo") - each
x
is a distance (= a single number) fromo
See documentation in container base image
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
1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build rplidarNode and rplidar_client
There're two ways to run rplidar ros package
roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2)
,
roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)
or
roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1)
You should see rplidar's scan result in the rviz.
roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)
,
roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)
or
roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)
rosrun rplidar_ros rplidar_client
You should see rplidar's scan result in the console
Notice: the different is serial_baudrate between A1/A2 and A3/S1
RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png