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

foxy, dashing, rolling

Configuring your ROS 2 environment

Create a workspace

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

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