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

ubuntu

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

Create a workspace

Compile & Install rplidar_ros2 package

1. Clone rplidar_ros2 package from github :

   git clone -b ros2 https://github.com/slamtec/rplidar_ros.git
   

1. Build rplidar_ros2 package :

   cd <your_own_ros2_ws>
   colcon build --symlink-install
   

if you find output like “colcon:command not found”,you need separate install colcon build tools.

1. Package environment setup :

    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:

    $echo "source <your_own_ros2_ws>/install/setup.bash" >> ~/.bashrc
    $source ~/.bashrc
    

Run rplidar_ros2

Run rplidar node and view in the rviz

The command for RPLIDAR A1/A2 is :

ros2 launch rplidar_ros2 view_rplidar_launch.py

The command for RPLIDAR A3 is :

ros2 launch rplidar_ros2 view_rplidar_a3_launch.py

The command for RPLIDAR S1 is :

ros2 launch rplidar_ros2 view_rplidar_s1_launch.py

The command for RPLIDAR S1(TCP connection) is :

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