ROS node and test application for RPLIDAR
Visit following Website for more details about RPLIDAR:
rplidar roswiki: http://wiki.ros.org/rplidar
rplidar HomePage: http://www.slamtec.com/en/Lidar
rplidar SDK: https://github.com/Slamtec/rplidar_sdk
rplidar Tutorial: https://github.com/robopeak/rplidar_ros/wiki
1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build rplidarNode and rplidarNodeClient
There're two ways to run rplidar ros package
roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3) , roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1) or roslaunch rplidar_ros view_rplidar_s2.launch (for RPLIDAR S2)
You should see rplidar's scan result in the rviz.
roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3) , roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1) or roslaunch rplidar_ros rplidar_s2.launch (for RPLIDAR S2)
rosrun rplidar_ros rplidarNodeClient
You should see rplidar's scan result in the console
Notice: the different is serial_baudrate between A1/A2<115200> , A3/S1<256000> and S2<1000000>
RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png