Sdon / rplidar_ros

RPLIDAR ROS 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

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 (for RPLIDAR A1/A2)

roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)

roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1)

roslaunch rplidar_ros view_rplidar_s2.launch (for RPLIDAR S2)

roslaunch rplidar_ros view_rplidar_s2e.launch (for RPLIDAR S2E)

roslaunch rplidar_ros view_rplidar_t1.launch (for SLAMTEC LPX T Serials)  

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

II. Run rplidar node and view using test application

roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)

roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)

roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)

roslaunch rplidar_ros rplidar_s2.launch (for RPLIDAR S2)

roslaunch rplidar_ros rplidar_s2e.launch (for RPLIDAR S2E)

roslaunch rplidar_ros rplidar_t1.launch (for SLAMTEC LPX T Serials)  

rosrun rplidar_ros rplidarNodeClient

You should see rplidar's scan result in the console

Notice: the different is serial_baudrate between A1/A2<115200> , A3/S1<256000> and S2<1000000>

RPLidar frame

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