WHI exteded RPLIDAR ROS package

This package forked from the offical repository with the extended functionality of scan range screening

Range definition of laser frame

The range's start is defined aligning with the axis -x, and increases clockwise up to 360 degrees:

Range screening

Added argument "screen_off" controls whether to screen off the data withing specified range(0-360 degrees). The intended screening off range can be set by params: screened_begin and screened_end

<arg name="screen_off" default="false"/>

<param name="screened_begin" type="int" value="100" if="$(arg screen_off)"/>
<param name="screened_end" type="int" value="260" if="$(arg screen_off)"/>
<param name="screened_begin" type="int" value="-1" unless="$(arg screen_off)"/>
<param name="screened_end" type="int" value="-1" unless="$(arg screen_off)"/>

Let's say that degrees from 90 degrees to 270 degrees should be screened off since the data within this range are interferenced with the mast behind the LiDAR. Then we can set the param "screened_begin" as 90 and "screened_end" as 270 in launch file "rplidar.launch", the argument can be set to true directly in launch file, or specified in command line while launching, like this:

roslaunch rplidar_ros rplidar.launch screen_off:=true

Bellowing contents are the original of RPLIDAR ROS package:

RPLIDAR ROS package

ROS node and test application for RPLIDAR

Visit following Website for more details about RPLIDAR:

rplidar roswiki: http://wiki.ros.org/rplidar

rplidar HomePage: http://www.slamtec.com/en/Lidar

rplidar SDK: https://github.com/Slamtec/rplidar_sdk

rplidar Tutorial: https://github.com/robopeak/rplidar_ros/wiki

How to build rplidar ros package

1. Clone this project to your catkin's workspace src folder
2. Running catkin_make to build rplidarNode and rplidarNodeClient

How to run rplidar ros package

There're two ways to run rplidar ros package

I. Run rplidar node and view in the rviz

The command for RPLIDAR A1 is :

roslaunch rplidar_ros view_rplidar_a1.launch

The command for RPLIDAR A2M7 is :

roslaunch rplidar_ros view_rplidar_a2m7.launch

The command for RPLIDAR A2M8 is :

roslaunch rplidar_ros view_rplidar_a2m8.launch

The command for RPLIDAR A2M12 is :

roslaunch rplidar_ros view_rplidar_a2m12.launch

The command for RPLIDAR A3 is :

roslaunch rplidar_ros view_rplidar_a3.launch

The command for RPLIDAR S1 is :

roslaunch rplidar_ros view_rplidar_s1.launch

The command for RPLIDAR S2 is :

roslaunch rplidar_ros view_rplidar_s2.launch

The command for RPLIDAR S3 is :

roslaunch rplidar_ros view_rplidar_s3.launch

The command for RPLIDAR S2E is :

roslaunch rplidar_ros view_rplidar_s2e.launch

The command for RPLIDAR T1 is :

roslaunch rplidar_ros view_rplidar_t1.launch

The command for RPLIDAR C1 is :

roslaunch rplidar_ros view_rplidar_c1.launch

You should see rplidar's scan result in the rviz.

II. Run rplidar node and view using test application

The command for RPLIDAR A1 is :

roslaunch rplidar_ros rplidar_a1.launch

The command for RPLIDAR A2M7 is :

roslaunch rplidar_ros rplidar_a2m7.launch

The command for RPLIDAR A2M8 is :

roslaunch rplidar_ros rplidar_a2m8.launch

The command for RPLIDAR A2M12 is :

roslaunch rplidar_ros rplidar_a2m12.launch

The command for RPLIDAR A3 is :

roslaunch rplidar_ros rplidar_a3.launch

The command for RPLIDAR S1 is :

roslaunch rplidar_ros rplidar_s1.launch

The command for RPLIDAR S2 is :

roslaunch rplidar_ros rplidar_s2.launch

The command for RPLIDAR S3 is :

roslaunch rplidar_ros rplidar_s3.launch

The command for RPLIDAR S2E is :

roslaunch rplidar_ros rplidar_s2e.launch

The command for RPLIDAR T1 is :

roslaunch rplidar_ros rplidar_t1.launch

The command for RPLIDAR C1 is :

roslaunch rplidar_ros rplidar_c1.launch

and in another terminal, run the following command

rosrun rplidar_ros rplidarNodeClient

You should see rplidar's scan result in the console.

Notice: different lidar use different serial_baudrate.

RPLidar frame

RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png