huigang39 / rplidar_ros

Slamtec 激光雷达 ROS 包

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

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

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

2. 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.

3. 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

4. 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