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| .. | ||
| launch | vor 2 Jahren | |
| rviz | vor 2 Jahren | |
| scripts | vor 2 Jahren | |
| sdk | vor 2 Jahren | |
| src | vor 2 Jahren | |
| CHANGELOG.rst | vor 2 Jahren | |
| CMakeLists.txt | vor 2 Jahren | |
| LICENSE | vor 2 Jahren | |
| README.md | vor 2 Jahren | |
| package.xml | vor 2 Jahren | |
| rplidar_A1.png | vor 2 Jahren | |
| rplidar_A2.png | vor 2 Jahren | |
README.md
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