SLAM Lidar ROS2

Note: This section supports the following lidar models: A1/A2/A3/S1/S2; The baud rates are different between A1/A2<115200>, A3/S1<256000> and S2<1000000>

ROS 2 official website：https://docs.ros.org/

Lidar ROS2：https://www.slamtec.com/cn/Support#rplidar-a-series

Lidar official website：http://www.slamtec.com/cn/Support

Device : PC；A1M8

Environment ：Ubuntu18.04；ROS2（eloquent）

New Workspace

mkdir -p my_ws/src

When the lidar is used, it is necessary to enter the workspace each time the command is executed

xxxxxxxxxx
cd ~/my_ws

Decompress the [silanlidar_ros2.zip] function package and put it in the src folder of your workspace. Open the terminal in the workspace

xxxxxxxxxx
colcon build               # compile
source install/setup.bash  # Update the environment

Note: Every time a new terminal is opened, it needs to [update the environment]. Every time the code in the function pack is changed, it needs to [re-compile] and then update the environment.

1、Remap the USB serial port

To perform this step, run the installation USB port remapping command in the scripts folder of the sllidar_ros2 function package

xxxxxxxxxx
cd ~/my_ws/src/sllidar_ros2/scripts
sudo chmod 777 *
./create_udev_rules.sh

Use the following command to view the modified remapping

xxxxxxxxxx
ls -l /dev | grep ttyUSB

2、Terminal test

Step one, activate the corresponding lidar

xxxxxxxxxx
ros2 launch sllidar_ros2 sllidar_launch.py    # RPLIDAR A1/A2
ros2 launch sllidar_ros2 sllidar_a3_launch.py # RPLIDAR A3
ros2 launch sllidar_ros2 sllidar_s1_launch.py # RPLIDAR S1
ros2 launch sllidar_ros2 sllidar_s2_launch.py # RPLIDAR S2

Second, start the test application

xxxxxxxxxx
rosrun rplidar_ros rplidarNodeClient

You should see the rPLidar scan results in the console

3、rviz2 Visual test

xxxxxxxxxx
ros2 launch sllidar_ros2 view_sllidar_launch.py    # RPLIDAR A1/A2
ros2 launch sllidar_ros2 view_sllidar_a3_launch.py # RPLIDAR A3
ros2 launch sllidar_ros2 view_sllidar_s1_launch.py # RPLIDAR S1
ros2 launch sllidar_ros2 view_sllidar_s2_launch.py # RPLIDAR S2

You should see the lidar scan results in rviz2

Note: the [Fixed Frame] coordinate system and [LaserScan] topics should be consistent with those published.

4、gmapping Build diagram test

Step one, activate the corresponding lidar

xxxxxxxxxx
ros2 launch sllidar_ros2 sllidar_launch.py    # RPLIDAR A1/A2
ros2 launch sllidar_ros2 sllidar_a3_launch.py # RPLIDAR A3
ros2 launch sllidar_ros2 sllidar_s1_launch.py # RPLIDAR S1
ros2 launch sllidar_ros2 sllidar_s2_launch.py # RPLIDAR S2

Second, start gmapping

xxxxxxxxxx
ros2 launch sllidar_ros2 gmapping_launch.py    # Other
ros2 launch sllidar_ros2 gmapping_s2_launch.py # S2

You should see the result in rviz2

Note: [Fixed Frame] coordinate system, [LaserScan] topic, [map] topic should be the same as published.