RPLidar LCM Driver

This driver communicates over serial with the Slamtec RPLidar A1 and A2 (tested) and A3 (untested) and publishes the data as an LCM message on the LCM channel LIDAR

Eventually it will allow starting and stopping the motor and changing the speed of rotation. (not yet implemented)

Fast Install

You can build and install all the code and services with the script:

./scripts/install.sh

Install Steps

You do not need to go through this install procedure if you use the install script.

To compile the program, first update the submodule:

git pull && git submodule update --init --recursive

Then, install the driver as follows:

mkdir build
cd build
cmake ..
make
sudo make install

Finally, install the service to run the driver automatically on startup:

cd services
./install_rplidar_service.sh

TODO

• Add support for switching the motor on and off and changing speed
• modify code to try dev link first (/dev/rplidar)