Use lidar in ROS2

1、Compile function package

Extract oradar_ lidar_ Oradar from ros2.zip_ Lidar, put oradar_ Lidar is copied to the src directory of the created workspace, where the workspace name is oradar_ Ws as an example, oradar_ The path of ws is in the~directory, and then returns to the workspace directory.

Input following command to complie.

cd ~/oradar_ws
colcon  build --symlink-install

The above picture shows that the compilation has passed.

Then enter the following command to set the environment variable.

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source install/setup.bash

2、Run launch

Before operation, you need to refer to the first section and bind the following radar port names.

For details, refer to the section "1. Preparation before use - Bind radar port names". After binding the radar, enter the following command to start the lidar.

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ros2 launch oradar_lidar ms200_scan_view.launch.py

You can view lidar node data through the following command.

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ros2 topic echo