RPLIDAR ROS package

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

How to build rplidar ros package

1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build rplidarNode and rplidarNodeClient

How to run rplidar ros package

There're two ways to run rplidar ros package

I. Run rplidar node and view in the rviz

roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3) or roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1)

You should see rplidar's scan result in the rviz.

II. Run rplidar node and view using test application

roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3) or roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)

rosrun rplidar_ros rplidarNodeClient

You should see rplidar's scan result in the console

Notice: the different is serial_baudrate between A1/A2 and A3/S1

RPLidar frame

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

Changelog for package rplidar_ros

1.10.0 (2019-02-22) ------------------* Update RPLIDAR SDK to 1.10.0 * [new feature] support Rplidar S1 * Contributors: tony,WubinXia

1.9.0 (2018-08-24)

• Update RPLIDAR SDK to 1.9.0
• [new feature] support baudrate 57600 and 1382400, support HQ scan response
• [bugfix] TCP channel doesn\'t work
• [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points
• Contributors: tony,kint

2.0.1 (2020-09-13)

• Remove old driver (#21)
  • Remove old rplidar driver in favor of the component version
  • Lint the source
• Fix incompatibilities with slam_toolbox (#20)
  • Fix incompatibilities with slam_toolbox:
  • Fix angle compensate mode to publish angle compensated values
  • Fix angle_increment calculation
  • Add optional flip_x_axis option to deal with issue discussed here: https://github.com/SteveMacenski/slam_toolbox/issues/198. Flip x-axis can be used when laser is mounted with motor behind it as rotated TF laser frame doesn\'t seem to work with slam_toolbox.
  • Fix whitespace
• Fix node count for component implementation (#19)
• Slam Toolbox compatibility (#18) (cherry picked from commit f21079fea8eca8946b5b4ae72f50b8d9f1ac46a2)
• Fix building with GCC 10 (#17)
• Contributors: Christen Lofland, Hunter L. Allen, justinIRBT

2.0.0 (2020-07-15)

• Update SDK to Version 0.12.0 (#14)
  • Register the rclcpp component
  • Update RPLIDAR SDK to version 1.12.0
• Update ROS 2 parameters and use node\'s clock instance (#9)
  • Update ROS 2 parameters and use node\'s clock instance
  • Fix scan_mode listing output
  • Stop motors and exit when set_scan_mode() call fails
• Fix compilation with eloquent (#6)
• Use Composition node with launch files (#4)
• Composable nodes (#3)
  • Begin implementation of composable rplidar_ros::rplidar_node
  • Declare composition node library in CMake, as well as continue the port
  • Get to a compiling state
  • Add start/stop motor callbacks + more driver setup
  • Add publish loop for scans
  • Add composition node
  • Lint
• Port rviz and launch files to ROS2 (#2)
  • Port non-rviz launch files to ROS2
  • Compatibility with rviz2
  • revert whitespace changes
  • Port the remaining launch files to ROS2
  • Revert more whitespace changes
  • Fix luanch and rviz install path indent level

• Ros2 port (#1) ROS 2 port

  • Port CMakeLists.txt
  • Port package.xml
  • Port client.cpp

  * Port node.cpp Fix compilation

• Support TCP

• upgrade sdk 1.10.0

• upgrade sdk 1.9.0 [new feature] support baudrate 57600 and 1382400, support HQ scan response [bugfix] TCP channel doesn\'t work [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points

• [bugfix]modify scan_mode at test_rplidar.launch and test_rplidar_a3.launch

• Contributors: Dan Rose, Hunter L. Allen, WubinXia, kint

1.7.0 (2018-07-19)

• Update RPLIDAR SDK to 1.7.0
• support scan points farther than 16.38m
• upport display and set scan mode
• Contributors: kint

1.6.0 (2018-05-21)

• Release 1.6.0.
• Update RPLIDAR SDK to 1.6.0
• Support new product RPLIDAR A3(default 16K model and max_distance 25m)
• Contributors: kint

1.5.7 (2016-12-15)

• Release 1.5.7.
• Update RPLIDAR SDK to 1.5.7
• Fixed the motor default speed at 10 HZ. Extend the measurement of max_distance from 6m to 8m.
• Contributors: kint

1.5.5 (2016-08-23)

• Release 1.5.5.
• Update RPLIDAR SDK to 1.5.5
• Add RPLIDAR information print, and fix the standard motor speed of RPLIDAR A2.
• Contributors: kint

1.5.4 (2016-06-02)

• Release 1.5.4.
• Update RPLIDAR SDK to 1.5.4
• Support RPLIDAR A2
• Contributors: kint

1.5.2 (2016-04-29)

• Release 1.5.2.
• Update RPLIDAR SDK to 1.5.2
• Support RPLIDAR A2
• Contributors: kint

1.0.1 (2014-06-03)

• Release 1.0.1.
• Add angle compensate mechanism to compatible with ROS scan message
• Add RPLIDAR sdk to the repo.
• First release of RPLIDAR ROS package (1.0.0)
• Initial commit
• Contributors: Ling, RoboPeak Public Repos