RPLidar with ROS2 and RVIZ

This tutotrial shows how to connect a RPLidar to ROS2 and show in RVIZ. 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.
Hurray now you can see the lidar scan in the RVIZ