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ROS与激光雷达入门-ROS中使用激光雷达(RPLIDAR)

作者:互联网

激光雷达(RPLIDAR)

我这里用的是思岚(rplidar)A1,通过ros系统去驱动激光雷达,现在做了一个基本的入门。

安装

$ mkdir -p  ~/catkin_ws/src
$ cd   ~/catkin_ws/src

## 激光雷达rplidar一代驱动
$ git clone https://github.com/ncnynl/rplidar_ros.git
$ source /home/qqtsj/catkin_ws/devel/setup.bash

(根据自己的环境变量路径去添加)
$ source ~/.bashrc
$ rospack profile

配置

$ ls -l /dev |grep ttyUSB
$ sudo chmod 666 /dev/ttyUSB0

测试

$ roslaunch rplidar_ros view_rplidar.launch

 

$ roslaunch rplidar_ros rplidar.launch
# 新终端打开
$ rosrun rplidar_ros rplidarNodeClient

使用别名

 $ ./scripts/create_udev_rules.sh
<param name="serial_port" type="string" value="/dev/rplidar"/>

标签:ROS,catkin,RPLIDAR,别名,ws,rplidar,ros,激光雷达
来源: https://www.cnblogs.com/tanshengjiang/p/12150388.html