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RPLIDAR is a low cost 2D LIDAR solution developed by RoboPeak Team, SlamTec company. It can scan 360° environment within 6meter radius. The output of RPLIDAR is very suitable to build map, do slam, or build 3D model.
You can know more information aboud rplidar from SlamTec HomePage(http://www.slamtec.com/en).
How to build rplidar ros package
- Clone this project to your catkin's workspace src folder
- Running catkin_make to build rplidarNode and rplidarNodeClient
How to run rplidar ros package
Check the authority of rplidar's serial-port :
ls -l /dev |grep ttyUSB
Add the authority of write: (such as /dev/ttyUSB0)
sudo chmod 666 /dev/ttyUSB0
There're two ways to run rplidar ros package
I. Run rplidar node and view in the rviz
roslaunch rplidar_ros view_rplidar.launch
You should see rplidar's scan result in the rviz.
II. Run rplidar node and view using test application
roslaunch rplidar_ros rplidar.launch
rosrun rplidar_ros rplidarNodeClient
You should see rplidar's scan result in the console
How to remap the USB serial port name
Maybe you should change the usb device port mode with the authority of read and write, more than make the port remap to an fixed name. install USB port remap: ./scripts/create_udev_rules.sh
chack the remap using following command:
ls -l /dev | grep ttyUSB
Once you have change the USB port remap, you can change the launch file about the serial_port value.
<param name="serial_port" type="string" value="/dev/rplidar"/>
RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png
How to install rplidar to your robot
rplidar rotate with clockwise direction . The first range come from the front ( the tail with the line).
you can install rplidar A2 in your robot like this.
you can install rplidar A1 in your robot like this.