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

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:

   cd src/rpldiar_ros/
   source scripts/create_udev_rules.sh
   

Run rplidar_ros

Run rplidar node and view in the rviz

The command for RPLIDAR A1 is :

ros2 launch rplidar_ros view_rplidar_a1_launch.py

The command for RPLIDAR A2M7 is :

ros2 launch rplidar_ros view_rplidar_a2m7_launch.py

The command for RPLIDAR A2M8 is :

ros2 launch rplidar_ros view_rplidar_a2m8_launch.py

The command for RPLIDAR A2M12 is :

ros2 launch rplidar_ros view_rplidar_a2m12_launch.py

The command for RPLIDAR A3 is :

ros2 launch rplidar_ros view_rplidar_a3_launch.py

The command for RPLIDAR S1 is :

ros2 launch rplidar_ros view_rplidar_s1_launch.py

The command for RPLIDAR S1(TCP connection) is :

ros2 launch rplidar_ros view_rplidar_s1_tcp_launch.py

The command for RPLIDAR S2 is :

ros2 launch rplidar_ros view_rplidar_s2_launch.py

The command for RPLIDAR S2E is :

ros2 launch rplidar_ros view_rplidar_s2e_launch.py

The command for RPLIDAR S3 is :

ros2 launch rplidar_ros view_rplidar_s3_launch.py

The command for RPLIDAR T1 is :

ros2 launch rplidar_ros view_rplidar_t1_launch.py

The command for RPLIDAR C1 is :

ros2 launch rplidar_ros view_rplidar_c1_launch.py

Notice: different lidar use different serial_baudrate.

RPLIDAR frame

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

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)
  • Update ROS 2 parameters and use node's clock instance
  • Fix scan_mode listing output
  • Stop motors and exit when set_scan_mode() call fails
• Fix compilation with eloquent (#6)
• Use Composition node with launch files (#4)
• Composable nodes (#3)
  • Begin implementation of composable rplidar_ros::rplidar_node
  • Declare composition node library in CMake, as well as continue the port
  • Get to a compiling state
  • Add start/stop motor callbacks + more driver setup
  • Add publish loop for scans
  • Add composition node
  • Lint
• Port rviz and launch files to ROS2 (#2)
  • Port non-rviz launch files to ROS2
  • Compatibility with rviz2
  • revert whitespace changes
  • Port the remaining launch files to ROS2
  • Revert more whitespace changes
  • Fix luanch and rviz install path indent level
• Ros2 port (#1) ROS 2 port
  • Port CMakeLists.txt
  • Port package.xml
  • Port client.cpp

  * Port node.cpp Fix compilation

• Support TCP
• upgrade sdk 1.10.0
• upgrade sdk 1.9.0 [new feature] support baudrate 57600 and 1382400, support HQ scan response [bugfix] TCP channel doesn't work [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points
• [bugfix]modify scan_mode at test_rplidar.launch and test_rplidar_a3.launch
• Contributors: Dan Rose, Hunter L. Allen, WubinXia, kint

1.10.0 (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
• Contributors: Ling, RoboPeak Public Repos