README

SLAMTEC LIDAR ROS2 Package

ROS2 node for SLAMTEC LIDAR

Visit following Website for more details about SLAMTEC LIDAR:

SLAMTEC LIDAR roswiki: http://wiki.ros.org/rplidar

SLAMTEC LIDAR HomePage: http://www.slamtec.com/en/Lidar

SLAMTEC LIDAR SDK: https://github.com/Slamtec/rplidar_sdk

SLAMTEC LIDAR Tutorial: https://github.com/robopeak/rplidar_ros/wiki

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

ROS2 Tutorials Creating a workspace

example, choose the directory name ros2_ws, for “development workspace” :
```
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
```

Compile & Install rplidar_ros package

Clone rplidar_ros package from github

Ensure you’re still in the ros2_ws/src directory before you clone:
```
git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git
```
Build rpidar_ros package

From the root of your workspace (ros2_ws), you can now build rplidar_ros package using the command:
```
cd ~/ros2_ws/
source /opt/ros/<rosdistro>/setup.bash
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
```
Create udev rules for rplidar

rplidar_ros running requires the read and write permissions of the serial device. You can manually modify it with the following command:
```
sudo chmod 777 /dev/ttyUSB0
```
But a better way is to create a udev rule:
```
cd src/rpldiar_ros/
source scripts/create_udev_rules.sh
```

Run rplidar_ros

Run rplidar node and view in the rviz

The command for RPLIDAR A1 is :

ros2 launch rplidar_ros view_rplidar_a1_launch.py

The command for RPLIDAR A2M7 is :

ros2 launch rplidar_ros view_rplidar_a2m7_launch.py

The command for RPLIDAR A2M8 is :

ros2 launch rplidar_ros view_rplidar_a2m8_launch.py

The command for RPLIDAR A2M12 is :

ros2 launch rplidar_ros view_rplidar_a2m12_launch.py

The command for RPLIDAR A3 is :

ros2 launch rplidar_ros view_rplidar_a3_launch.py

The command for RPLIDAR S1 is :

ros2 launch rplidar_ros view_rplidar_s1_launch.py

The command for RPLIDAR S1(TCP connection) is :

ros2 launch rplidar_ros view_rplidar_s1_tcp_launch.py

The command for RPLIDAR S2 is :

ros2 launch rplidar_ros view_rplidar_s2_launch.py

The command for RPLIDAR S2E is :

ros2 launch rplidar_ros view_rplidar_s2e_launch.py

The command for RPLIDAR S3 is :

ros2 launch rplidar_ros view_rplidar_s3_launch.py

The command for RPLIDAR T1 is :

ros2 launch rplidar_ros view_rplidar_t1_launch.py

The command for RPLIDAR C1 is :

ros2 launch rplidar_ros view_rplidar_c1_launch.py

Notice: different lidar use different serial_baudrate.

RPLIDAR frame

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