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ROS node and test application for RPLIDAR

Visit following Website for more details about RPLIDAR:

rplidar roswiki:

rplidar HomePage:

rplidar SDK:

rplidar Tutorial:

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 rplidarros viewrplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidarros viewrplidara3.launch (for RPLIDAR A3) , roslaunch rplidarros viewrplidars1.launch (for RPLIDAR S1) or roslaunch rplidarros viewrplidar_s2.launch (for RPLIDAR S2)

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

II. Run rplidar node and view using test application

roslaunch rplidarros rplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidarros rplidara3.launch (for RPLIDAR A3) , roslaunch rplidarros rplidars1.launch (for RPLIDAR S1) or roslaunch rplidarros rplidar_s2.launch (for RPLIDAR S2)

rosrun rplidar_ros rplidarNodeClient

You should see rplidar's scan result in the console

Notice: the different is serial_baudrate between A1/A2<115200> , A3/S1<256000> and S2<1000000>

RPLidar frame

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

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