# RPLIDAR ROS package
ROS node and test application for RPLIDAR
Visit following Website for more details about RPLIDAR:
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 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
The command for RPLIDAR A1 is :
```bash
roslaunch rplidar_ros view_rplidar_a1.launch
```
The command for RPLIDAR A2M7 is :
```bash
roslaunch rplidar_ros view_rplidar_a2m7.launch
```
The command for RPLIDAR A2M8 is :
```bash
roslaunch rplidar_ros view_rplidar_a2m8.launch
```
The command for RPLIDAR A2M12 is :
```bash
roslaunch rplidar_ros view_rplidar_a2m12.launch
```
The command for RPLIDAR A3 is :
```bash
roslaunch rplidar_ros view_rplidar_a3.launch
```
The command for RPLIDAR S1 is :
```bash
roslaunch rplidar_ros view_rplidar_s1.launch
```
The command for RPLIDAR S2 is :
```bash
roslaunch rplidar_ros view_rplidar_s2.launch
```
The command for RPLIDAR S3 is :
```bash
roslaunch rplidar_ros view_rplidar_s3.launch
```
The command for RPLIDAR S2E is :
```bash
roslaunch rplidar_ros view_rplidar_s2e.launch
```
The command for RPLIDAR T1 is :
```bash
roslaunch rplidar_ros view_rplidar_t1.launch
```
You should see rplidar's scan result in the rviz.
### II. Run rplidar node and view using test application
The command for RPLIDAR A1 is :
```bash
roslaunch rplidar_ros rplidar_a1.launch
```
The command for RPLIDAR A2M7 is :
```bash
roslaunch rplidar_ros rplidar_a2m7.launch
```
The command for RPLIDAR A2M8 is :
```bash
roslaunch rplidar_ros rplidar_a2m8.launch
```
The command for RPLIDAR A2M12 is :
```bash
roslaunch rplidar_ros rplidar_a2m12.launch
```
The command for RPLIDAR A3 is :
```bash
roslaunch rplidar_ros rplidar_a3.launch
```
The command for RPLIDAR S1 is :
```bash
roslaunch rplidar_ros rplidar_s1.launch
```
The command for RPLIDAR S2 is :
```bash
roslaunch rplidar_ros rplidar_s2.launch
```
The command for RPLIDAR S3 is :
```bash
roslaunch rplidar_ros rplidar_s3.launch
```
The command for RPLIDAR S2E is :
```bash
roslaunch rplidar_ros rplidar_s2e.launch
```
The command for RPLIDAR T1 is :
```bash
roslaunch rplidar_ros rplidar_t1.launch
```
and in another terminal, run the following command
```bash
rosrun rplidar_ros rplidarNodeClient
```
You should see rplidar's scan result in the console.
Notice: different lidar use different serial_baudrate.
## RPLidar frame
RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png
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基于ROS的无人化工厂下的多车协同避障系统.zip (1130个子文件)
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