rplidar_utilities

A ROS2 node with utility functionalities for a SLAMTEC LIDAR.

Provides:

• the node 'rplidar_info' to display information about the RPLIDAR
• the node 'rplidar_listener' to listen to/display the LaserScan messages
• a rviz config-file to display the LaserScan messages (with topic name 'scan') in RVIZ

The nodes use the 'rplidar_sdk_ros2' package, which provides the public SDK of RPLIDAR products in C++ as a ROS package.

rplidar_info

Parameters

• channel_type : Specifying channel type of lidar - (string, default = 'serial')
• tcp_ip : Specifying tcp ip to the connected lidar - (string, default = '192.168.0.7');
• tcp_port : Specifying tcp port to the connected lidar - (int, default = 20108);
• upp_ip : Specifying udp ip to the connected lidar - (string, default = '192.168.11.2');
• udp_port : Specifying usb port to the connected lidar - (int, default = 8089);
• serial_port : Specifying usb port to connected lidar - (string, default = '/dev/ttyUSB0')
• serial_baudrate : Specifying usb port baudrate to connected lidar - (int, default = 460800)

Run rplidar_info

ros2 run rplidar_utilities rplidar_info [parameters ...]

Or with the launch-file (for a RPLIDAR C1):

ros2 launch rplidar_utilities rplidar_info_c1_launch.py

rplidar_listener

Subscribes

• /scan (sensor_msgs/msg/LaserScan)

Parameters

• topic_name : Specifying topic name of LaserScan message - (string, default = 'scan')
• skip_ranges : Skip output of all range-values. Only header info will be displayed - (bool, default = 'false')

Run rplidar_listener

ros2 run rplidar_utilities rplidar_listener  [parameters ...]

Or

ros2 launch rplidar_utilities rplidar_listener_launch.py

View 'scan' messages in rviz

With the launch-file:

ros2 launch rplidar_rviz_launch.py

Or start RVIZ directly

ros2 run rviz rviz

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Tested with:

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