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rplidar_ros2 package from rosbot repo

chat client_service number_pubsub tutorial_interfaces odrive_interfaces odrive_ros2 odrive_bringup odrive_description odrive_hardware_interface odrive_ros2_control rplidar_ros2 joy_teleop key_teleop mouse_teleop teleop_tools teleop_tools_msgs bno055 rosbot_bringup rosbot_description teleop_twist_joy

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.0.1
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS 2 based robot learning platform
Checkout URI	https://github.com/kallaspriit/rosbot.git
VCS Type	git
VCS Version	main
Last Updated	2022-01-27
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The rplidar ros2 package, support rplidar A2/A1 and A3/S1

Additional Links

No additional links.

Maintainers

Slamtec ROS Maintainer

Authors

No additional authors.

ros/src/rplidar_ros/README.md

RPLIDAR ROS2 Package

ROS2 node 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 install ROS2

ubuntu

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

Create a workspace

Compile & Install rplidar_ros2 package

Clone rplidar_ros2 package from github :

   git clone -b ros2 https://github.com/slamtec/rplidar_ros.git

Build rplidar_ros2 package :

   cd <your_own_ros2_ws>
   colcon build --symlink-install
   

if you find output like “colcon:command not found”,you need separate install colcon build tools.

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
    

Run rplidar_ros2

Run rplidar node and view in the rviz

The command for RPLIDAR A1/A2 is :

ros2 launch rplidar_ros2 view_rplidar_launch.py

The command for RPLIDAR A3 is :

ros2 launch rplidar_ros2 view_rplidar_a3_launch.py

The command for RPLIDAR S1 is :

ros2 launch rplidar_ros2 view_rplidar_s1_launch.py

The command for RPLIDAR S1(TCP connection) is :

ros2 launch rplidar_ros2 view_rplidar_s1_tcp_launch.py

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

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_srvs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
go2_bringup
go2_control
rosbot_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rplidar_ros2` at Robotics Stack Exchange

API Docs Browse Code

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