RPLIDAR ROS package

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ROS node and test application for RPLIDAR

Visit following Website for more details about RPLIDAR:

rplidar HomePage: http://www.slamtec.com/en/Lidar

rplidar SDK: https://github.com/Slamtec/rplidar_sdk

How to build rplidar ros package

1) Clone this project to your workspace src folder
2) Running `colcon build` to build `rplidarNode` and `rplidarNodeClient`

Node parameters:

• serial_port - (string, default: /dev/ttyUSB0) serial port name used in your system.
• serial_baudrate - (int, default: 115200) serial port baud rate.
• frame_id - (string, default: laser_frame) frame ID for the device.
• inverted - (bool, default: false) indicated whether the LIDAR is mounted inverted.
• angle_compensate - (bool, default: false) indicated whether the driver needs do angle compensation.
• scan_mode - (string, default: empty) the scan mode of lidar.

Node services:

• stop_motor (std_srvs/Empty) Call the serive to stop the motor of rplidar.
• start_motor (std_srvs/Empty) Call the service to start the motor of rplidar.

How to run rplidar ros package

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There are launch files for RpLidar models:

• for RPLIDAR A1/A2

  ros2 launch rplidar_ros rplidar.launch.py

• for RPLIDAR A3

  ros2 launch rplidar_ros rplidar_a3.launch.py

• for RPLIDAR S1

  ros2 launch rplidar_ros rplidar_s1.launch.py

For every launch file, the output scans are available on /scan topic.

Notice: the difference is serial_baudrate between A1/A2 and A3/S1

RPLidar frame

RPLidar frame must be broadcasted according to picture shown below

For RpLidar A1:

For RpLidar A2: