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) or roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)

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) or roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)

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

RPLidar frame

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

Changelog for package rplidar_ros

1.9.0 (2018-08-24)

• Update RPLIDAR SDK to 1.9.0
• [new feature] support baudrate 57600 and 1382400, support HQ scan response
• [bugfix] TCP channel doesn't work
• [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points
• Contributors: tony,kint

1.7.0 (2018-07-19)

• Update RPLIDAR SDK to 1.7.0
• support scan points farther than 16.38m
• upport display and set scan mode
• Contributors: kint

1.6.0 (2018-05-21)

• Release 1.6.0.
• Update RPLIDAR SDK to 1.6.0
• Support new product RPLIDAR A3(default 16K model and max_distance 25m)
• Contributors: kint

1.5.7 (2016-12-15)

• Release 1.5.7.
• Update RPLIDAR SDK to 1.5.7
• Fixed the motor default speed at 10 HZ. Extend the measurement of max_distance from 6m to 8m.
• Contributors: kint

1.5.5 (2016-08-23)

• Release 1.5.5.
• Update RPLIDAR SDK to 1.5.5
• Add RPLIDAR information print, and fix the standard motor speed of RPLIDAR A2.
• Contributors: kint

1.5.4 (2016-06-02)

• Release 1.5.4.
• Update RPLIDAR SDK to 1.5.4
• Support RPLIDAR A2
• Contributors: kint

1.5.2 (2016-04-29)

• Release 1.5.2.
• Update RPLIDAR SDK to 1.5.2
• Support RPLIDAR A2
• Contributors: kint

1.0.1 (2014-06-03)

• Release 1.0.1.
• Add angle compensate mechanism to compatible with ROS scan message
• Add RPLIDAR sdk to the repo.
• First release of RPLIDAR ROS package (1.0.0)
• Initial commit
• Contributors: Ling, RoboPeak Public Repos