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

```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

Changelog for package rplidar_ros

1.10.0 (2019-02-22) ------------------* Update RPLIDAR SDK to 1.10.0 * [new feature] support Rplidar S1 * Contributors: tony,WubinXia

1.9.0 (2018-08-24)

• Update RPLIDAR SDK to 1.9.0
• [new feature] support baudrate 57600 and 1382400, support HQ scan response
• [bugfix] TCP channel doesn't work
• [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points
• Contributors: tony,kint

2.1.0 (2022-09-06)

• Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
  • Set auto_standby off by default
• Fix building on Apple machines (#30)
• Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
  • Update launch files for Foxy or later
• Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

• Fix build with later versions of GCC
• Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

• Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
• Contributors: Hunter L. Allen

2.0.1 (2020-09-13)

• Remove old driver (#21)
  • Remove old rplidar driver in favor of the component version
  • Lint the source
• Fix incompatibilities with slam_toolbox (#20)
  • Fix incompatibilities with slam_toolbox:
  • Fix angle compensate mode to publish angle compensated values
  • Fix angle_increment calculation
  • Add optional flip_x_axis option to deal with issue discussed here: https://github.com/SteveMacenski/slam_toolbox/issues/198. Flip x-axis can be used when laser is mounted with motor behind it as rotated TF laser frame doesn't seem to work with slam_toolbox.
  • Fix whitespace
• Fix node count for component implementation (#19)
• Slam Toolbox compatibility (#18) (cherry picked from commit f21079fea8eca8946b5b4ae72f50b8d9f1ac46a2)
• Fix building with GCC 10 (#17)
• Contributors: Christen Lofland, Hunter L. Allen, justinIRBT

2.0.0 (2020-07-15)

• Update SDK to Version 0.12.0 (#14)
  • Register the rclcpp component
  • Update RPLIDAR SDK to version 1.12.0
• Update ROS 2 parameters and use node's clock instance (#9)
  • Update ROS 2 parameters and use node's clock instance
  • Fix scan_mode listing output
  • Stop motors and exit when set_scan_mode() call fails
• Fix compilation with eloquent (#6)
• Use Composition node with launch files (#4)
• Composable nodes (#3)
  • Begin implementation of composable rplidar_ros::rplidar_node
  • Declare composition node library in CMake, as well as continue the port
  • Get to a compiling state
  • Add start/stop motor callbacks + more driver setup
  • Add publish loop for scans
  • Add composition node
  • Lint
• Port rviz and launch files to ROS2 (#2)
  • Port non-rviz launch files to ROS2
  • Compatibility with rviz2
  • revert whitespace changes
  • Port the remaining launch files to ROS2
  • Revert more whitespace changes
  • Fix luanch and rviz install path indent level
• Ros2 port (#1) ROS 2 port
  • Port CMakeLists.txt
  • Port package.xml
  • Port client.cpp

  * Port node.cpp Fix compilation

• Support TCP
• upgrade sdk 1.10.0
• upgrade sdk 1.9.0 [new feature] support baudrate 57600 and 1382400, support HQ scan response [bugfix] TCP channel doesn't work [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points
• [bugfix]modify scan_mode at test_rplidar.launch and test_rplidar_a3.launch
• Contributors: Dan Rose, Hunter L. Allen, WubinXia, kint

1.7.0 (2018-07-19)

• Update RPLIDAR SDK to 1.7.0
• support scan points farther than 16.38m
• upport display and set scan mode
• Contributors: kint

1.6.0 (2018-05-21)

• Release 1.6.0.
• Update RPLIDAR SDK to 1.6.0
• Support new product RPLIDAR A3(default 16K model and max_distance 25m)
• Contributors: kint

1.5.7 (2016-12-15)

• Release 1.5.7.
• Update RPLIDAR SDK to 1.5.7
• Fixed the motor default speed at 10 HZ. Extend the measurement of max_distance from 6m to 8m.
• Contributors: kint

1.5.5 (2016-08-23)

• Release 1.5.5.
• Update RPLIDAR SDK to 1.5.5
• Add RPLIDAR information print, and fix the standard motor speed of RPLIDAR A2.
• Contributors: kint

1.5.4 (2016-06-02)

• Release 1.5.4.
• Update RPLIDAR SDK to 1.5.4
• Support RPLIDAR A2
• Contributors: kint

1.5.2 (2016-04-29)

• Release 1.5.2.
• Update RPLIDAR SDK to 1.5.2
• Support RPLIDAR A2
• Contributors: kint

1.0.1 (2014-06-03)

• Release 1.0.1.
• Add angle compensate mechanism to compatible with ROS scan message
• Add RPLIDAR sdk to the repo.
• First release of RPLIDAR ROS package (1.0.0)
• Initial commit
• Contributors: Ling, RoboPeak Public Repos