Welcome to SLAM LiDAR repository

1.Preparation

1.1Compile function package

Unzip rplidar_ros-dev-ros2 in the [Source Code] folder to get the rplidar_ros-dev-ros2 function package. Copy rplidar_ros to the src directory of the workspace you created. Here, the workspace name is rplidar_ws as an example. The path of rplidar_ws is in the ~ directory, and then return to the workspace directory to compile.

cd ~/rplidar_ws
colcon build --symlink-install

The above screen description appears and the compilation is passed.

Then enter the following command to set the environment variables.

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echo "source ~/rplidar_ws/install/setup.bash --extend" >> ~/.bashrc

Open the terminal under the rplidar_ros-dev-ros2 function package, enter the following command, and copy the rplidar.rules file under the function package to /etc/udev/rules.d.

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sudo cp rplidar.rules /etc/udev/rules.d/

Then re-plug the radar serial port.

Input following command:

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ll /dev/rplidar 

The above content indicates that the binding is successful.

The end is not necessarily 0 and changes according to the order in which the devices are inserted.

1.2 Run launch

Run lidar:

x
#A1 lidar
ros2 launch rplidar_ros rplidar_a1_launch.py
#A2M12 lidar
ros2 launch rplidar_ros rplidar_a2m12_launch.py
#A3 lidar
ros2 launch rplidar_ros rplidar_a3_launch.py
#C1 lidar
ros2 launch rplidar_ros rplidar_c1_launch.py
#S2 lidar、S2L lidar
ros2 launch rplidar_ros rplidar_s2_launch.py
#s3
ros2 launch rplidar_ros rplidar_s3_launch.py

Lidar node data can be viewed through the following command.

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ros2 topic echo /scan

Run the radar to display the point cloud and input it into the terminal (ctrl c is required to close the node that started the lidar before),

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#A1 lidar
ros2 launch rplidar_ros view_rplidar_a1_launch.py
#A2M12 lidar
ros2 launch rplidar_ros view_rplidar_a2m12_launch.py
#A3 lidar
ros2 launch rplidar_ros view_rplidar_a3_launch.py
#C1 lidar
ros2 launch rplidar_ros view_rplidar_c1_launch.py
#S2 lidar、S2L lidar
ros2 launch rplidar_ros view_rplidar_s2_launch.py
#s3
ros2 launch rplidar_ros view_rplidar_s3_launch.py