2021第三届华为云人工智能大赛 · 无人车挑战杯决赛.zip

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 ------------------------------------------------------------ roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3) or roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1) You should see rplidar's scan result in the rviz. II. Run rplidar node and view using test application ------------------------------------------------------------ roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2) , roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3) or roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1) rosrun rplidar_ros rplidarNodeClient You should see rplidar's scan result in the console Notice: the different is serial_baudrate between A1/A2 and A3/S1 RPLidar frame ===================================================================== RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png