MoffKalast / rplidar_ros

RPLIDAR A1M8 ROS package

ROS node and test application for RPLIDAR

Visit following Website for more details about RPLIDAR:

rplidar roswiki: http://wiki.ros.org/rplidar

LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf

LM108_SLAMTEC_rplidarkit_usermaunal_A1M8_v2.0_en.pdf

How to build rplidar ros package

1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build rplidarNode and rplidarNodeClient

How to run rplidar ros package

There're two ways to run rplidar ros package

I. Run rplidar node and view in the rviz

roslaunch rplidar_ros view_rplidar.launch

You should see rplidar's scan result in the rviz.

II. Run rplidar node and view using test application

roslaunch rplidar_ros rplidar.launch

rosrun rplidar_ros rplidarNodeClient

You should see rplidar's scan result in the console

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