RPLidar with ROS2 and RVIZ: Unterschied zwischen den Versionen
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(20 dazwischenliegende Versionen desselben Benutzers werden nicht angezeigt) | |||
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<big>This tutotrial shows how to connect a RPLidar to ROS2 and show in RVIZ. | <big>This tutotrial shows how to connect a RPLidar to ROS2 and show in RVIZ. | ||
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Connect RPLidar to the USB port and follw the steps to shown below<br> | |||
Note: Here we are using RPLidar A1 | |||
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Then run rplidar ros package | Then run rplidar ros package | ||
source ./install/setup.bash | source ./install/setup.bash | ||
ros2 run rplidar_ros rplidarNode | |||
open a new terminal | |||
source ./install/setup.bash | |||
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 world laser_frame | |||
Then, open a new terminal | |||
source ./install/setup.bash | |||
rviz2 ./install/rplidar_ros/share/rplidar_ros/rviz/rplidar.rviz | |||
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Then set frame into laser_frame | |||
After that, add laser scan and and select scan under Topic.<br> | |||
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[[Datei:RViz Screen.png|thumb|links|mini|1000px|RViz Screen]] | |||
<br clear=all> | |||
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Hurray now you can see the lidar scan in the RVIZ | |||
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To see the lidar scan result in the console, Follw the steps bellow | |||
source ./install/setup.bash | |||
ros2 run rplidar_ros rplidarNodeClient | |||
Now you should see the Lidar scan result in the console |
Aktuelle Version vom 27. Oktober 2022, 11:36 Uhr
This tutotrial shows how to connect a RPLidar to ROS2 and show in RVIZ.
Connect RPLidar to the USB port and follw the steps to shown below
Note: Here we are using RPLidar A1
open your terminal and clone the github project to your colcon workspace src folder
git clone https://github.com/CreedyNZ/rplidar_ros2.git
Then source the bash
source install/setup.bash
After that,
colcon build --symlink-install
Then run rplidar ros package
source ./install/setup.bash
ros2 run rplidar_ros rplidarNode
open a new terminal
source ./install/setup.bash
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 world laser_frame
Then, open a new terminal
source ./install/setup.bash
rviz2 ./install/rplidar_ros/share/rplidar_ros/rviz/rplidar.rviz
Then set frame into laser_frame
After that, add laser scan and and select scan under Topic.
![](/wiki/images/thumb/8/81/RViz_Screen.png/1000px-RViz_Screen.png)
Hurray now you can see the lidar scan in the RVIZ
To see the lidar scan result in the console, Follw the steps bellow
source ./install/setup.bash
ros2 run rplidar_ros rplidarNodeClient
Now you should see the Lidar scan result in the console