RPLidar with ROS2 and RVIZ: Unterschied zwischen den Versionen

Version vom 27. Oktober 2022, 12:29 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.

Hurray now you can see the lidar scan in the RVIZ

@@ Zeile 34: / Zeile 34: @@
   rviz2 ./install/rplidar_ros/share/rplidar_ros/rviz/rplidar.rviz
+<br>
 Then set frame into laser_frame
 After that, add laser scan and and select scan under Topic.<br>
@@ Zeile 39: / Zeile 40: @@
 [[Datei:RViz Screen.png|thumb|links|mini|1000px|RViz Screen]]
 <br clear=all>
+<br>
+Hurray now you can see the lidar scan in the RVIZ