RPLIDAR ROS2 package

ROS2 node and test application for RPLIDAR

Note: I just made some changes to update this package for ROS2 compatibility, modifying the original rplidar_ros repository for use with my RPLIDAR A2M8 on a Jetson Nano.

For more details about RPLIDAR, please visit:

• 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 the package

1. Clone the repository

   Clone this project into the src folder of your colcon workspace:

   cd [your-ros-package-directory]/src
   git clone https://github.com/FIPATECH/rplidar_ros2.git

2. Install ROS2 and Colcon

   Make sure you have ROS2 (installed with the necessary build tools (colcon, etc.).

3. Build the package

   cd [your-ros-package-directory]
   colcon build --symlink-install
   source ./install/setup.bash

4. Verify the package exists

   ros2 pkg list | grep rplidar_ros2

Running the node and visualizing in RViz

To launch the RPLIDAR node along with RViz, run:

ros2 launch rplidar_ros2 view_rplidar_launch.py

Notice: The default parameters are set for RPLIDAR A2M8 with a 115200 baud rate. If using a different model, adjust the baud rate and other relevant parameters in the launch files accordingly.

RPLidar frame

The RPLidar frame should be broadcasted as shown in rplidar_AX.png.