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src	a928a110bd 測試上傳多資料夾	3 년 전
CHANGELOG.rst	a928a110bd 測試上傳多資料夾	3 년 전
CMakeLists.txt	a928a110bd 測試上傳多資料夾	3 년 전
LICENSE	a928a110bd 測試上傳多資料夾	3 년 전
README.md	a928a110bd 測試上傳多資料夾	3 년 전
package.xml	a928a110bd 測試上傳多資料夾	3 년 전
rplidar_A1.png	a928a110bd 測試上傳多資料夾	3 년 전
rplidar_A2.png	a928a110bd 測試上傳多資料夾	3 년 전

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) or roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1)

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) or roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)

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