SLAMTEC LIDAR ROS2 Package

ROS2 node for SLAMTEC LIDAR

Visit following Website for more details about SLAMTEC LIDAR:

SLAMTEC LIDAR roswiki: http://wiki.ros.org/sllidar， http://wiki.ros.org/rplidar

SLAMTEC LIDAR HomePage: http://www.slamtec.com/en/Lidar

SLAMTEC LIDAR SDK: https://github.com/Slamtec/rplidar_sdk

SLAMTEC LIDAR Tutorial: https://github.com/robopeak/rplidar_ros/wiki

Supported SLAMTEC LIDAR

| Lidar Model | | ———————- | |RPLIDAR A1 | |RPLIDAR A2 | |RPLIDAR A3 | |RPLIDAR S1 | |RPLIDAR S2 | |SLAMTEC LPX T1 |

How to install ROS2

foxy, dashing, rolling

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

Create a workspace

Compile & Install sllidar_ros2 package

1. Clone sllidar_ros2 package from github :

   git clone https://github.com/Slamtec/sllidar_ros2.git
   

1. Build sllidar_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 sllidar_ros2

Run sllidar node and view in the rviz

The command for Rplidar A1/A2 is :

ros2 launch sllidar_ros2 view_sllidar_launch.py

The command for Rplidar A3 is :

ros2 launch sllidar_ros2 view_sllidar_a3_launch.py

The command for Rplidar S1 is :

ros2 launch sllidar_ros2 view_sllidar_s1_launch.py

The command for Rplidar S2 is :

ros2 launch sllidar_ros2 view_sllidar_s2_launch.py

The command for Slamtec Lpx T1 is :

ros2 launch sllidar_ros2 view_sllidar_t1_launch.py

The command for Rplidar S1(TCP connection) is :

ros2 launch sllidar_ros2 view_sllidar_s1_tcp_launch.py

Notice: the different is serial_baudrate between A1/A2 and A3/S1

sllidar frame

sllidar frame must be broadcasted according to picture shown in sllidar-frame.png