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

rolling, humble, galactic, foxy

Configuring your ROS 2 environment

ROS2 Tutorials Creating a workspace

1. example, choose the directory name ros2_ws, for "development workspace" :

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src

1. Clone sllidar_ros2 package from github

   Ensure you're still in the ros2_ws/src directory before you clone:

   git clone https://github.com/Slamtec/sllidar_ros2.git

2. Build sllidar_ros2 package

   From the root of your workspace (ros2_ws), you can now build sllidar_ros2 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.

3. 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

4. Create udev rules for rplidar

   sllidar_ros2 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

The command for RPLIDAR A1 is :

ros2 launch sllidar_ros2 view_sllidar_a1_launch.py

The command for RPLIDAR A2M7 is :

ros2 launch sllidar_ros2 view_sllidar_a2m7_launch.py

The command for RPLIDAR A2M8 is :

ros2 launch sllidar_ros2 view_sllidar_a2m8_launch.py

The command for RPLIDAR A2M12 is :

ros2 launch sllidar_ros2 view_sllidar_a2m12_launch.py

The command for RPLIDAR A3 is :

ros2 launch sllidar_ros2 view_sllidar_a3_launch.py

The command for RPLIDAR C1 is :

ros2 launch sllidar_ros2 view_sllidar_c1_launch.py

The command for RPLIDAR S1 is :

ros2 launch sllidar_ros2 view_sllidar_s1_launch.py

The command for RPLIDAR S2 is :

ros2 launch sllidar_ros2 view_sllidar_s2_launch.py

ros2 launch sllidar_ros2 view_sllidar_s2e_launch.py

The command for RPLIDAR S3 is :

ros2 launch sllidar_ros2 view_sllidar_s3_launch.py

The command for RPLIDAR T1 is :

ros2 launch sllidar_ros2 view_sllidar_t1_launch.py

The command for RPLIDAR S1(TCP connection) is :

ros2 launch sllidar_ros2 view_sllidar_s1_tcp_launch.py

Notice: different lidar use different serial_baudrate.

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