ROS index logo ROS Index
  1. Home
  2. Packages
  3. rplidar_ros
 
Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.4
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-27
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1

Additional Links

No additional links.

Maintainers

  • Wang DeYou

Authors

  • Slamtec ROS Maintainer
README.md

SLAMTEC LIDAR ROS2 Package

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

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

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

Compile & Install rplidar_ros package

  1. Clone rplidar_ros package from github

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

   git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git

  1. Build rpidar_ros package

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

  1. 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

  1. Create udev rules for rplidar

    rplidar_ros 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:

```bash cd src/rpldiar_ros/ source scripts/create_udev_rules.sh

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

Forthcoming

  • Update README
  • Add launch file for rplidar C1
  • Update SDK.
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • RPLIDAR C1 support
  • Contributors: deyou wang

2.1.4 (2023-08-15)

  • Update SDK.
    • UltraDense protocol support
    • support for stoppping A1 motor
    • Optimize lidar driver for switching S2E workingmode
  • Bugfix:logical error
  • Install udev rules via debian.
  • Contributors: Tony Baltovski, deyou wang

2.1.3 (2023-07-20)

  • Bugfix:auto standby mode not work
  • Rename SLLidar* to RPLidar* in rplidar_node.cpp
  • Renaming variable m_running to is_scanning
  • Update README
  • Use rplidar_ros.rviz instead of rplidar.rviz
  • Update source files in src directory: Use the source files developed by Slamtec instead of the old ones, and add the functionality of the old code.
  • Modify and add launch files
  • Update rplidar-sdk to 2.0.0
  • Update create_udev_rules.sh
  • Update description in package.xml
  • Update maintainer to Wang DeYou
  • Contributors: Wang DeYou

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/allenh1/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2022-09-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3/S1

Additional Links

No additional links.

Maintainers

  • Hunter L. Allen

Authors

  • Slamtec ROS Maintainer
README.md

RPLIDAR ROS 2 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

Getting Started

1) Clone this project to your colcon workspace src folder. 2) Build the package: ```colcon build –symlink-install


Running the Package
=====================================================================
There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz
------------------------------------------------------------
RPLIDAR A1/A2: 
```ros2 launch rplidar_ros view_rplidar.launch.py

RPLIDAR A3: ```ros2 launch rplidar_ros view_rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros view_rplidar_s1.launch.py

II. Run rplidar node and view using test application

RPLIDAR A1/A2: ```ros2 launch rplidar_ros rplidar.launch.py

```ros2 run rplidar_ros rplidar_composition

RPLIDAR A3: ```ros2 launch rplidar_ros rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros rplidar_s1.launch.py

Frame Orientation

CHANGELOG

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

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/allenh1/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2022-09-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3/S1

Additional Links

No additional links.

Maintainers

  • Hunter L. Allen

Authors

  • Slamtec ROS Maintainer
README.md

RPLIDAR ROS 2 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

Getting Started

1) Clone this project to your colcon workspace src folder. 2) Build the package: ```colcon build –symlink-install


Running the Package
=====================================================================
There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz
------------------------------------------------------------
RPLIDAR A1/A2: 
```ros2 launch rplidar_ros view_rplidar.launch.py

RPLIDAR A3: ```ros2 launch rplidar_ros view_rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros view_rplidar_s1.launch.py

II. Run rplidar node and view using test application

RPLIDAR A1/A2: ```ros2 launch rplidar_ros rplidar.launch.py

```ros2 run rplidar_ros rplidar_composition

RPLIDAR A3: ```ros2 launch rplidar_ros rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros rplidar_s1.launch.py

Frame Orientation

CHANGELOG

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

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
rclcpp
sensor_msgs
std_srvs
rclcpp_components
ament_cmake_auto
ament_cmake_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/allenh1/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2022-09-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3/S1

Additional Links

No additional links.

Maintainers

  • Hunter L. Allen

Authors

  • Slamtec ROS Maintainer
README.md

RPLIDAR ROS 2 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

Getting Started

1) Clone this project to your colcon workspace src folder. 2) Build the package: ```colcon build –symlink-install


Running the Package
=====================================================================
There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz
------------------------------------------------------------
RPLIDAR A1/A2: 
```ros2 launch rplidar_ros view_rplidar.launch.py

RPLIDAR A3: ```ros2 launch rplidar_ros view_rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros view_rplidar_s1.launch.py

II. Run rplidar node and view using test application

RPLIDAR A1/A2: ```ros2 launch rplidar_ros rplidar.launch.py

```ros2 run rplidar_ros rplidar_composition

RPLIDAR A3: ```ros2 launch rplidar_ros rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros rplidar_s1.launch.py

Frame Orientation

CHANGELOG

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

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
rclcpp
sensor_msgs
std_srvs
rclcpp_components
ament_cmake_auto
ament_cmake_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.4
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-27
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1

Additional Links

No additional links.

Maintainers

  • Wang DeYou

Authors

  • Slamtec ROS Maintainer
README.md

SLAMTEC LIDAR ROS2 Package

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

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

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

Compile & Install rplidar_ros package

  1. Clone rplidar_ros package from github

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

   git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git

  1. Build rpidar_ros package

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

  1. 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

  1. Create udev rules for rplidar

    rplidar_ros 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:

```bash cd src/rpldiar_ros/ source scripts/create_udev_rules.sh

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

Forthcoming

  • Update README
  • Add launch file for rplidar C1
  • Update SDK.
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • RPLIDAR C1 support
  • Contributors: deyou wang

2.1.4 (2023-08-15)

  • Update SDK.
    • UltraDense protocol support
    • support for stoppping A1 motor
    • Optimize lidar driver for switching S2E workingmode
  • Bugfix:logical error
  • Install udev rules via debian.
  • Contributors: Tony Baltovski, deyou wang

2.1.3 (2023-07-20)

  • Bugfix:auto standby mode not work
  • Rename SLLidar* to RPLidar* in rplidar_node.cpp
  • Renaming variable m_running to is_scanning
  • Update README
  • Use rplidar_ros.rviz instead of rplidar.rviz
  • Update source files in src directory: Use the source files developed by Slamtec instead of the old ones, and add the functionality of the old code.
  • Modify and add launch files
  • Update rplidar-sdk to 2.0.0
  • Update create_udev_rules.sh
  • Update description in package.xml
  • Update maintainer to Wang DeYou
  • Contributors: Wang DeYou

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.4
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-27
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1

Additional Links

No additional links.

Maintainers

  • Wang DeYou

Authors

  • Slamtec ROS Maintainer
README.md

SLAMTEC LIDAR ROS2 Package

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

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

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

Compile & Install rplidar_ros package

  1. Clone rplidar_ros package from github

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

   git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git

  1. Build rpidar_ros package

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

  1. 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

  1. Create udev rules for rplidar

    rplidar_ros 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:

```bash cd src/rpldiar_ros/ source scripts/create_udev_rules.sh

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

Forthcoming

  • Update README
  • Add launch file for rplidar C1
  • Update SDK.
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • RPLIDAR C1 support
  • Contributors: deyou wang

2.1.4 (2023-08-15)

  • Update SDK.
    • UltraDense protocol support
    • support for stoppping A1 motor
    • Optimize lidar driver for switching S2E workingmode
  • Bugfix:logical error
  • Install udev rules via debian.
  • Contributors: Tony Baltovski, deyou wang

2.1.3 (2023-07-20)

  • Bugfix:auto standby mode not work
  • Rename SLLidar* to RPLidar* in rplidar_node.cpp
  • Renaming variable m_running to is_scanning
  • Update README
  • Use rplidar_ros.rviz instead of rplidar.rviz
  • Update source files in src directory: Use the source files developed by Slamtec instead of the old ones, and add the functionality of the old code.
  • Modify and add launch files
  • Update rplidar-sdk to 2.0.0
  • Update create_udev_rules.sh
  • Update description in package.xml
  • Update maintainer to Wang DeYou
  • Contributors: Wang DeYou

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.4
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-27
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1

Additional Links

No additional links.

Maintainers

  • Wang DeYou

Authors

  • Slamtec ROS Maintainer
README.md

SLAMTEC LIDAR ROS2 Package

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

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

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

Compile & Install rplidar_ros package

  1. Clone rplidar_ros package from github

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

   git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git

  1. Build rpidar_ros package

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

  1. 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

  1. Create udev rules for rplidar

    rplidar_ros 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:

```bash cd src/rpldiar_ros/ source scripts/create_udev_rules.sh

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

Forthcoming

  • Update README
  • Add launch file for rplidar C1
  • Update SDK.
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • RPLIDAR C1 support
  • Contributors: deyou wang

2.1.4 (2023-08-15)

  • Update SDK.
    • UltraDense protocol support
    • support for stoppping A1 motor
    • Optimize lidar driver for switching S2E workingmode
  • Bugfix:logical error
  • Install udev rules via debian.
  • Contributors: Tony Baltovski, deyou wang

2.1.3 (2023-07-20)

  • Bugfix:auto standby mode not work
  • Rename SLLidar* to RPLidar* in rplidar_node.cpp
  • Renaming variable m_running to is_scanning
  • Update README
  • Use rplidar_ros.rviz instead of rplidar.rviz
  • Update source files in src directory: Use the source files developed by Slamtec instead of the old ones, and add the functionality of the old code.
  • Modify and add launch files
  • Update rplidar-sdk to 2.0.0
  • Update create_udev_rules.sh
  • Update description in package.xml
  • Update maintainer to Wang DeYou
  • Contributors: Wang DeYou

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.4
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-27
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1

Additional Links

No additional links.

Maintainers

  • Wang DeYou

Authors

  • Slamtec ROS Maintainer
README.md

SLAMTEC LIDAR ROS2 Package

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

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

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

Compile & Install rplidar_ros package

  1. Clone rplidar_ros package from github

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

   git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git

  1. Build rpidar_ros package

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

  1. 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

  1. Create udev rules for rplidar

    rplidar_ros 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:

```bash cd src/rpldiar_ros/ source scripts/create_udev_rules.sh

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

Forthcoming

  • Update README
  • Add launch file for rplidar C1
  • Update SDK.
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • RPLIDAR C1 support
  • Contributors: deyou wang

2.1.4 (2023-08-15)

  • Update SDK.
    • UltraDense protocol support
    • support for stoppping A1 motor
    • Optimize lidar driver for switching S2E workingmode
  • Bugfix:logical error
  • Install udev rules via debian.
  • Contributors: Tony Baltovski, deyou wang

2.1.3 (2023-07-20)

  • Bugfix:auto standby mode not work
  • Rename SLLidar* to RPLidar* in rplidar_node.cpp
  • Renaming variable m_running to is_scanning
  • Update README
  • Use rplidar_ros.rviz instead of rplidar.rviz
  • Update source files in src directory: Use the source files developed by Slamtec instead of the old ones, and add the functionality of the old code.
  • Modify and add launch files
  • Update rplidar-sdk to 2.0.0
  • Update create_udev_rules.sh
  • Update description in package.xml
  • Update maintainer to Wang DeYou
  • Contributors: Wang DeYou

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.4
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-04-27
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1

Additional Links

No additional links.

Maintainers

  • Wang DeYou

Authors

  • Slamtec ROS Maintainer
README.md

SLAMTEC LIDAR ROS2 Package

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

Supported SLAMTEC LIDAR

Lidar Model
RPLIDAR A1
RPLIDAR A2
RPLIDAR A3
RPLIDAR S1
RPLIDAR S2
RPLIDAR S2E
RPLIDAR S3
RPLIDAR T1
RPLIDAR C1

How to install ROS2

rolling, humble, galactic, foxy

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

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

Compile & Install rplidar_ros package

  1. Clone rplidar_ros package from github

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

   git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git

  1. Build rpidar_ros package

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

  1. 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

  1. Create udev rules for rplidar

    rplidar_ros 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:

```bash cd src/rpldiar_ros/ source scripts/create_udev_rules.sh

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

Forthcoming

  • Update README
  • Add launch file for rplidar C1
  • Update SDK.
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • RPLIDAR C1 support
  • Contributors: deyou wang

2.1.4 (2023-08-15)

  • Update SDK.
    • UltraDense protocol support
    • support for stoppping A1 motor
    • Optimize lidar driver for switching S2E workingmode
  • Bugfix:logical error
  • Install udev rules via debian.
  • Contributors: Tony Baltovski, deyou wang

2.1.3 (2023-07-20)

  • Bugfix:auto standby mode not work
  • Rename SLLidar* to RPLidar* in rplidar_node.cpp
  • Renaming variable m_running to is_scanning
  • Update README
  • Use rplidar_ros.rviz instead of rplidar.rviz
  • Update source files in src directory: Use the source files developed by Slamtec instead of the old ones, and add the functionality of the old code.
  • Modify and add launch files
  • Update rplidar-sdk to 2.0.0
  • Update create_udev_rules.sh
  • Update description in package.xml
  • Update maintainer to Wang DeYou
  • Contributors: Wang DeYou

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
galactic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/allenh1/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2022-09-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3/S1

Additional Links

No additional links.

Maintainers

  • Hunter L. Allen

Authors

  • Slamtec ROS Maintainer
README.md

RPLIDAR ROS 2 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

Getting Started

1) Clone this project to your colcon workspace src folder. 2) Build the package: ```colcon build –symlink-install


Running the Package
=====================================================================
There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz
------------------------------------------------------------
RPLIDAR A1/A2: 
```ros2 launch rplidar_ros view_rplidar.launch.py

RPLIDAR A3: ```ros2 launch rplidar_ros view_rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros view_rplidar_s1.launch.py

II. Run rplidar node and view using test application

RPLIDAR A1/A2: ```ros2 launch rplidar_ros rplidar.launch.py

```ros2 run rplidar_ros rplidar_composition

RPLIDAR A3: ```ros2 launch rplidar_ros rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros rplidar_s1.launch.py

Frame Orientation

CHANGELOG

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

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
rclcpp
sensor_msgs
std_srvs
rclcpp_components
ament_cmake_auto
ament_cmake_ros

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
turtlebot4_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
foxy

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/allenh1/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2022-09-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3/S1

Additional Links

No additional links.

Maintainers

  • Hunter L. Allen

Authors

  • Slamtec ROS Maintainer
README.md

RPLIDAR ROS 2 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

Getting Started

1) Clone this project to your colcon workspace src folder. 2) Build the package: ```colcon build –symlink-install


Running the Package
=====================================================================
There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz
------------------------------------------------------------
RPLIDAR A1/A2: 
```ros2 launch rplidar_ros view_rplidar.launch.py

RPLIDAR A3: ```ros2 launch rplidar_ros view_rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros view_rplidar_s1.launch.py

II. Run rplidar node and view using test application

RPLIDAR A1/A2: ```ros2 launch rplidar_ros rplidar.launch.py

```ros2 run rplidar_ros rplidar_composition

RPLIDAR A3: ```ros2 launch rplidar_ros rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros rplidar_s1.launch.py

Frame Orientation

CHANGELOG

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

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
rclcpp
sensor_msgs
std_srvs
rclcpp_components
ament_cmake_auto
ament_cmake_ros

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
raspimouse_navigation
raspimouse_slam

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
iron

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/allenh1/rplidar_ros.git
VCS Type git
VCS Version ros2
Last Updated 2022-09-06
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3/S1

Additional Links

No additional links.

Maintainers

  • Hunter L. Allen

Authors

  • Slamtec ROS Maintainer
README.md

RPLIDAR ROS 2 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

Getting Started

1) Clone this project to your colcon workspace src folder. 2) Build the package: ```colcon build –symlink-install


Running the Package
=====================================================================
There are two ways to run the RPLIDAR ROS 2 Package.

I. Run rplidar node and view in the rviz
------------------------------------------------------------
RPLIDAR A1/A2: 
```ros2 launch rplidar_ros view_rplidar.launch.py

RPLIDAR A3: ```ros2 launch rplidar_ros view_rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros view_rplidar_s1.launch.py

II. Run rplidar node and view using test application

RPLIDAR A1/A2: ```ros2 launch rplidar_ros rplidar.launch.py

```ros2 run rplidar_ros rplidar_composition

RPLIDAR A3: ```ros2 launch rplidar_ros rplidar_a3.launch.py


RPLIDAR S1: 
```ros2 launch rplidar_ros rplidar_s1.launch.py

Frame Orientation

CHANGELOG

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

2.1.0 (2022-09-06)

  • Add auto standby mode (#29) * Add auto standby mode Turn on/off motor based on topic subsribers
    • Set auto_standby off by default
  • Fix building on Apple machines (#30)
  • Update README & fix launch files for Foxy and up (#26) * Update README.md based on modifications from youngday
    • Update launch files for Foxy or later
  • Contributors: Jesse Zhang, Vasily Kiniv

2.0.3 (2022-09-01)

  • Fix build with later versions of GCC
  • Contributors: Hunter L. Allen

2.0.2 (2021-05-27)

  • Remove test_rplidar.launch.py, since relevant executables no longer exist (#24)
  • Contributors: Hunter L. Allen

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
rclcpp
sensor_msgs
std_srvs
rclcpp_components
ament_cmake_auto
ament_cmake_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
lunar

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.1.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version master
Last Updated 2024-05-20
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1/C1

Additional Links

No additional links.

Maintainers

  • Slamtec ROS Maintainer

Authors

No additional authors.
README.md

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

The command for RPLIDAR A1 is :

roslaunch rplidar_ros view_rplidar_a1.launch

The command for RPLIDAR A2M7 is :

roslaunch rplidar_ros view_rplidar_a2m7.launch

The command for RPLIDAR A2M8 is :

roslaunch rplidar_ros view_rplidar_a2m8.launch

The command for RPLIDAR A2M12 is :

roslaunch rplidar_ros view_rplidar_a2m12.launch

The command for RPLIDAR A3 is :

roslaunch rplidar_ros view_rplidar_a3.launch

The command for RPLIDAR S1 is :

roslaunch rplidar_ros view_rplidar_s1.launch

The command for RPLIDAR S2 is :

roslaunch rplidar_ros view_rplidar_s2.launch

The command for RPLIDAR S3 is :

roslaunch rplidar_ros view_rplidar_s3.launch

The command for RPLIDAR S2E is :

roslaunch rplidar_ros view_rplidar_s2e.launch

The command for RPLIDAR T1 is :

roslaunch rplidar_ros view_rplidar_t1.launch

The command for RPLIDAR C1 is :

roslaunch rplidar_ros view_rplidar_c1.launch

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

II. Run rplidar node and view using test application

The command for RPLIDAR A1 is :

roslaunch rplidar_ros rplidar_a1.launch

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

2.1.5 (2023-11-20)

  • Update RPLIDAR SDK to 2.1.0
    • Support RPLIDAR C1 (#142)
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • UltraDense protocol support
    • support for stoppping A1 motor
    • bugfix:start/stop_motor(service) cause lidar to stop scanning
  • Fix build with C++14 && --march=native
  • scan frequency configuration support
  • Add launch file for RPLIDAR a2m*,C1
  • Install udev rules via debian. (#126)
  • Bugfix:create_udev_rules.sh dose not take effect immediately.
  • When node starts to reset rplidar, if rplidar info is not obtained within 15 seconds, rplidar reset fails
  • Add initial_reset option to reset rplidar on node start
  • Compilation optimization
  • Contributors: Babak-SSh, Tim Clephas, Tony Baltovski, Ubuntu248, Victor Belov, Wang DeYou, WubinXia, kint, yzx

2.0.0 (2021-10-8)

  • Update RPLIDAR SDK to 2.0.0
  • [new feature] 1.redesign the skelton of the sdk. 2.support Rplidar S2
  • Contributors: tony,WubinXia

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

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
roscpp
rosconsole
sensor_msgs
std_srvs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.9.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robopeak/rplidar_ros.git
VCS Type git
VCS Version master
Last Updated 2018-08-24
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3

Additional Links

No additional links.

Maintainers

  • Slamtec ROS Maintainer

Authors

No additional authors.
README.md

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) or roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)

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) or roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)

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

RPLidar frame

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

CHANGELOG

Changelog for package rplidar_ros

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

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

Package Dependencies

Deps Name
roscpp
rosconsole
sensor_msgs
std_srvs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.1.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version master
Last Updated 2024-05-20
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1/C1

Additional Links

No additional links.

Maintainers

  • Slamtec ROS Maintainer

Authors

No additional authors.
README.md

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

The command for RPLIDAR A1 is :

roslaunch rplidar_ros view_rplidar_a1.launch

The command for RPLIDAR A2M7 is :

roslaunch rplidar_ros view_rplidar_a2m7.launch

The command for RPLIDAR A2M8 is :

roslaunch rplidar_ros view_rplidar_a2m8.launch

The command for RPLIDAR A2M12 is :

roslaunch rplidar_ros view_rplidar_a2m12.launch

The command for RPLIDAR A3 is :

roslaunch rplidar_ros view_rplidar_a3.launch

The command for RPLIDAR S1 is :

roslaunch rplidar_ros view_rplidar_s1.launch

The command for RPLIDAR S2 is :

roslaunch rplidar_ros view_rplidar_s2.launch

The command for RPLIDAR S3 is :

roslaunch rplidar_ros view_rplidar_s3.launch

The command for RPLIDAR S2E is :

roslaunch rplidar_ros view_rplidar_s2e.launch

The command for RPLIDAR T1 is :

roslaunch rplidar_ros view_rplidar_t1.launch

The command for RPLIDAR C1 is :

roslaunch rplidar_ros view_rplidar_c1.launch

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

II. Run rplidar node and view using test application

The command for RPLIDAR A1 is :

roslaunch rplidar_ros rplidar_a1.launch

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

2.1.5 (2023-11-20)

  • Update RPLIDAR SDK to 2.1.0
    • Support RPLIDAR C1 (#142)
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • UltraDense protocol support
    • support for stoppping A1 motor
    • bugfix:start/stop_motor(service) cause lidar to stop scanning
  • Fix build with C++14 && --march=native
  • scan frequency configuration support
  • Add launch file for RPLIDAR a2m*,C1
  • Install udev rules via debian. (#126)
  • Bugfix:create_udev_rules.sh dose not take effect immediately.
  • When node starts to reset rplidar, if rplidar info is not obtained within 15 seconds, rplidar reset fails
  • Add initial_reset option to reset rplidar on node start
  • Compilation optimization
  • Contributors: Babak-SSh, Tim Clephas, Tony Baltovski, Ubuntu248, Victor Belov, Wang DeYou, WubinXia, kint, yzx

2.0.0 (2021-10-8)

  • Update RPLIDAR SDK to 2.0.0
  • [new feature] 1.redesign the skelton of the sdk. 2.support Rplidar S2
  • Contributors: tony,WubinXia

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

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
roscpp
rosconsole
sensor_msgs
std_srvs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cob_bringup
roch_bringup
roomblock_bringup
evapc_start
evarobot_navigation

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
hydro

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.9.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robopeak/rplidar_ros.git
VCS Type git
VCS Version master
Last Updated 2018-08-24
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A2/A1 and A3

Additional Links

No additional links.

Maintainers

  • Slamtec ROS Maintainer

Authors

No additional authors.
README.md

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) or roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)

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) or roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)

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

RPLidar frame

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

CHANGELOG

Changelog for package rplidar_ros

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

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

Package Dependencies

Deps Name
roscpp
rosconsole
sensor_msgs
std_srvs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.1.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version master
Last Updated 2024-05-20
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1/C1

Additional Links

No additional links.

Maintainers

  • Slamtec ROS Maintainer

Authors

No additional authors.
README.md

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

The command for RPLIDAR A1 is :

roslaunch rplidar_ros view_rplidar_a1.launch

The command for RPLIDAR A2M7 is :

roslaunch rplidar_ros view_rplidar_a2m7.launch

The command for RPLIDAR A2M8 is :

roslaunch rplidar_ros view_rplidar_a2m8.launch

The command for RPLIDAR A2M12 is :

roslaunch rplidar_ros view_rplidar_a2m12.launch

The command for RPLIDAR A3 is :

roslaunch rplidar_ros view_rplidar_a3.launch

The command for RPLIDAR S1 is :

roslaunch rplidar_ros view_rplidar_s1.launch

The command for RPLIDAR S2 is :

roslaunch rplidar_ros view_rplidar_s2.launch

The command for RPLIDAR S3 is :

roslaunch rplidar_ros view_rplidar_s3.launch

The command for RPLIDAR S2E is :

roslaunch rplidar_ros view_rplidar_s2e.launch

The command for RPLIDAR T1 is :

roslaunch rplidar_ros view_rplidar_t1.launch

The command for RPLIDAR C1 is :

roslaunch rplidar_ros view_rplidar_c1.launch

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

II. Run rplidar node and view using test application

The command for RPLIDAR A1 is :

roslaunch rplidar_ros rplidar_a1.launch

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

2.1.5 (2023-11-20)

  • Update RPLIDAR SDK to 2.1.0
    • Support RPLIDAR C1 (#142)
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • UltraDense protocol support
    • support for stoppping A1 motor
    • bugfix:start/stop_motor(service) cause lidar to stop scanning
  • Fix build with C++14 && --march=native
  • scan frequency configuration support
  • Add launch file for RPLIDAR a2m*,C1
  • Install udev rules via debian. (#126)
  • Bugfix:create_udev_rules.sh dose not take effect immediately.
  • When node starts to reset rplidar, if rplidar info is not obtained within 15 seconds, rplidar reset fails
  • Add initial_reset option to reset rplidar on node start
  • Compilation optimization
  • Contributors: Babak-SSh, Tim Clephas, Tony Baltovski, Ubuntu248, Victor Belov, Wang DeYou, WubinXia, kint, yzx

2.0.0 (2021-10-8)

  • Update RPLIDAR SDK to 2.0.0
  • [new feature] 1.redesign the skelton of the sdk. 2.support Rplidar S2
  • Contributors: tony,WubinXia

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

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
roscpp
rosconsole
sensor_msgs
std_srvs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
caster_base
roomblock_bringup
xbot_bringup
xiaoqiang_bringup

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.1.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version master
Last Updated 2024-05-20
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1/C1

Additional Links

No additional links.

Maintainers

  • Slamtec ROS Maintainer

Authors

No additional authors.
README.md

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

The command for RPLIDAR A1 is :

roslaunch rplidar_ros view_rplidar_a1.launch

The command for RPLIDAR A2M7 is :

roslaunch rplidar_ros view_rplidar_a2m7.launch

The command for RPLIDAR A2M8 is :

roslaunch rplidar_ros view_rplidar_a2m8.launch

The command for RPLIDAR A2M12 is :

roslaunch rplidar_ros view_rplidar_a2m12.launch

The command for RPLIDAR A3 is :

roslaunch rplidar_ros view_rplidar_a3.launch

The command for RPLIDAR S1 is :

roslaunch rplidar_ros view_rplidar_s1.launch

The command for RPLIDAR S2 is :

roslaunch rplidar_ros view_rplidar_s2.launch

The command for RPLIDAR S3 is :

roslaunch rplidar_ros view_rplidar_s3.launch

The command for RPLIDAR S2E is :

roslaunch rplidar_ros view_rplidar_s2e.launch

The command for RPLIDAR T1 is :

roslaunch rplidar_ros view_rplidar_t1.launch

The command for RPLIDAR C1 is :

roslaunch rplidar_ros view_rplidar_c1.launch

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

II. Run rplidar node and view using test application

The command for RPLIDAR A1 is :

roslaunch rplidar_ros rplidar_a1.launch

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

2.1.5 (2023-11-20)

  • Update RPLIDAR SDK to 2.1.0
    • Support RPLIDAR C1 (#142)
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • UltraDense protocol support
    • support for stoppping A1 motor
    • bugfix:start/stop_motor(service) cause lidar to stop scanning
  • Fix build with C++14 && --march=native
  • scan frequency configuration support
  • Add launch file for RPLIDAR a2m*,C1
  • Install udev rules via debian. (#126)
  • Bugfix:create_udev_rules.sh dose not take effect immediately.
  • When node starts to reset rplidar, if rplidar info is not obtained within 15 seconds, rplidar reset fails
  • Add initial_reset option to reset rplidar on node start
  • Compilation optimization
  • Contributors: Babak-SSh, Tim Clephas, Tony Baltovski, Ubuntu248, Victor Belov, Wang DeYou, WubinXia, kint, yzx

2.0.0 (2021-10-8)

  • Update RPLIDAR SDK to 2.0.0
  • [new feature] 1.redesign the skelton of the sdk. 2.support Rplidar S2
  • Contributors: tony,WubinXia

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

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
roscpp
rosconsole
sensor_msgs
std_srvs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
caster_base

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange

Package symbol

rplidar_ros package from rplidar_ros repo

rplidar_ros

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.1.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Slamtec/rplidar_ros.git
VCS Type git
VCS Version master
Last Updated 2024-05-20
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1/C1

Additional Links

No additional links.

Maintainers

  • Slamtec ROS Maintainer

Authors

No additional authors.
README.md

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

The command for RPLIDAR A1 is :

roslaunch rplidar_ros view_rplidar_a1.launch

The command for RPLIDAR A2M7 is :

roslaunch rplidar_ros view_rplidar_a2m7.launch

The command for RPLIDAR A2M8 is :

roslaunch rplidar_ros view_rplidar_a2m8.launch

The command for RPLIDAR A2M12 is :

roslaunch rplidar_ros view_rplidar_a2m12.launch

The command for RPLIDAR A3 is :

roslaunch rplidar_ros view_rplidar_a3.launch

The command for RPLIDAR S1 is :

roslaunch rplidar_ros view_rplidar_s1.launch

The command for RPLIDAR S2 is :

roslaunch rplidar_ros view_rplidar_s2.launch

The command for RPLIDAR S3 is :

roslaunch rplidar_ros view_rplidar_s3.launch

The command for RPLIDAR S2E is :

roslaunch rplidar_ros view_rplidar_s2e.launch

The command for RPLIDAR T1 is :

roslaunch rplidar_ros view_rplidar_t1.launch

The command for RPLIDAR C1 is :

roslaunch rplidar_ros view_rplidar_c1.launch

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

II. Run rplidar node and view using test application

The command for RPLIDAR A1 is :

roslaunch rplidar_ros rplidar_a1.launch

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package rplidar_ros

2.1.5 (2023-11-20)

  • Update RPLIDAR SDK to 2.1.0
    • Support RPLIDAR C1 (#142)
    • Re-implemented the data retrieving logic based on async fetching and decoding mechanism to improve performance
    • UltraDense protocol support
    • support for stoppping A1 motor
    • bugfix:start/stop_motor(service) cause lidar to stop scanning
  • Fix build with C++14 && --march=native
  • scan frequency configuration support
  • Add launch file for RPLIDAR a2m*,C1
  • Install udev rules via debian. (#126)
  • Bugfix:create_udev_rules.sh dose not take effect immediately.
  • When node starts to reset rplidar, if rplidar info is not obtained within 15 seconds, rplidar reset fails
  • Add initial_reset option to reset rplidar on node start
  • Compilation optimization
  • Contributors: Babak-SSh, Tim Clephas, Tony Baltovski, Ubuntu248, Victor Belov, Wang DeYou, WubinXia, kint, yzx

2.0.0 (2021-10-8)

  • Update RPLIDAR SDK to 2.0.0
  • [new feature] 1.redesign the skelton of the sdk. 2.support Rplidar S2
  • Contributors: tony,WubinXia

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

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

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
roscpp
rosconsole
sensor_msgs
std_srvs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rplidar_ros at Robotics Stack Exchange