Robot Hardware Components and Programming

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The AplphBot is modified with a RPLidar is used for this project. Raspberry pi 4 is used as a computer with Odometer sensor and motor driver L298P is used.

IMG AlphaBot

Raspberry Pi 4 is installed with Linux server and established a SSH connection with the robot.

Please go through the documentation here for the steps: How to install Ubuntu Server on your Raspberry Pi

Then ROS2 is installed in raspberry pi through SSH

RPLidar Intrgration and Programming

Now that we have the driver software, we can post a LaserScan topic and communicate with the laser. Actually, there are a few distinct versions of the driver available. We are utilizing the package repository version in this instance. To install the package, 

> sudo apt install ros-foxy-rplidar-ros <
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