RPLidar with ROS2 and RVIZ: Unterschied zwischen den Versionen

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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.
</big><br>
<br>


Connect RPLidar to the USB port and follw the steps to shown below<br>


Clone the github project to your colcon workspace src folder
Note: Here we are using RPLidar A1
$ git clone https://github.com/CreedyNZ/rplidar_ros2.git




This command, which must be executed in the ros2 ws directory for it to function, will compile your whole src directory.
 
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
 
<br>
Then set frame into laser_frame
After that, add laser scan and and select scan under Topic.<br>
<br>
[[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
 
<br>
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.

RViz Screen



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

Abgerufen von „https://wiki.hshl.de/wiki/index.php?title=RPLidar_with_ROS2_and_RVIZ&oldid=96594“