RPLidar with ROS2 and RVIZ
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
