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/sllidar， 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
SLAMTEC LPX T1

How to install ROS2

foxy, dashing, rolling

How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

Create a workspace

Compile & Install sllidar_ros2 package

1. Clone sllidar_ros2 package from github :

   git clone https://github.com/Slamtec/sllidar_ros2.git

2. Build sllidar_ros2 package :

   cd <your_own_ros2_ws>
   colcon build --symlink-install

   if you find output like "colcon:command not found",you need separate install colcon build tools.

3. 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

Run sllidar_ros2

Run sllidar node and view in the rviz

The command for Rplidar A1/A2 is :

ros2 launch sllidar_ros2 view_sllidar_launch.py

The command for Rplidar A3 is :

ros2 launch sllidar_ros2 view_sllidar_a3_launch.py

The command for Rplidar S1 is :

ros2 launch sllidar_ros2 view_sllidar_s1_launch.py

The command for Rplidar S2 is :

ros2 launch sllidar_ros2 view_sllidar_s2_launch.py

The command for Slamtec Lpx T1 is :

ros2 launch sllidar_ros2 view_sllidar_t1_launch.py

The command for Rplidar S1(TCP connection) is :

ros2 launch sllidar_ros2 view_sllidar_s1_tcp_launch.py

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

sllidar frame

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