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
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There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz
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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