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/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

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

ROS2 Tutorials Creating a workspace

1. example, choose the directory name ros2_ws, for “development workspace” :

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
   

Compile & Install rplidar_ros package

1. Clone rplidar_ros package from github

   Ensure you’re still in the ros2_ws/src directory before you clone:

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

1. Build rpidar_ros package

   From the root of your workspace (ros2_ws), you can now build rplidar_ros package using the command:

   cd ~/ros2_ws/
   source /opt/ros/<rosdistro>/setup.bash
   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
    

1. Create udev rules for rplidar

   rplidar_ros running requires the read and write permissions of the serial device. You can manually modify it with the following command:

   sudo chmod 777 /dev/ttyUSB0
   

But a better way is to create a udev rule:

   cd src/rpldiar_ros/
   source scripts/create_udev_rules.sh
   

Run rplidar_ros

Run rplidar node and view in the rviz

The command for RPLIDAR A1 is :

ros2 launch rplidar_ros view_rplidar_a1_launch.py

The command for RPLIDAR A2M7 is :

ros2 launch rplidar_ros view_rplidar_a2m7_launch.py

The command for RPLIDAR A2M8 is :

ros2 launch rplidar_ros view_rplidar_a2m8_launch.py

The command for RPLIDAR A2M12 is :

ros2 launch rplidar_ros view_rplidar_a2m12_launch.py

The command for RPLIDAR A3 is :

ros2 launch rplidar_ros view_rplidar_a3_launch.py

The command for RPLIDAR S1 is :

ros2 launch rplidar_ros view_rplidar_s1_launch.py

The command for RPLIDAR S1(TCP connection) is :

ros2 launch rplidar_ros view_rplidar_s1_tcp_launch.py

The command for RPLIDAR S2 is :

ros2 launch rplidar_ros view_rplidar_s2_launch.py

The command for RPLIDAR S2E is :

ros2 launch rplidar_ros view_rplidar_s2e_launch.py

The command for RPLIDAR S3 is :

ros2 launch rplidar_ros view_rplidar_s3_launch.py

The command for RPLIDAR T1 is :

ros2 launch rplidar_ros view_rplidar_t1_launch.py

The command for RPLIDAR C1 is :

ros2 launch rplidar_ros view_rplidar_c1_launch.py

Notice: different lidar use different serial_baudrate.

RPLIDAR frame

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