【记录Jetson Nano安装RPLidar ROS2】

参考github rplidar_ros2官方教程

配置

Jetson Nano - Ubuntu 18.04 + ROS2 Eloquent
Rplidar A2

RPLidar 驱动安装

// 新建工作空间
source ~/.bashrc
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
// 克隆rplidar_ros2项目
git clone https://github.com/CreedyNZ/rplidar_ros2.git
cd ..
// 编译
source /opt/ros/eloquent/setup.sh
colcon build --symlink-install
// 配置工作空间
sudo gedit ~/.bashrc
source ~/ros2_ws/install/setup.bash
// 查看rplidar串行接口
ls -l /dev |grep ttyUSB
// 开启权限 ttyUSB0 是串口名
sudo chmod 666 /dev/ttyUSB0

如果报错：bash: colcon: 未找到命令，安装：

sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-pip \
  python-rosdep \
  python3-vcstool \
  wget
# install some pip packages needed for testing
sudo -H python3 -m pip install -U \
  argcomplete \
  flake8 \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures
# [Ubuntu 16.04] install extra packages not available or recent enough on Xenial
python3 -m pip install -U \
  pytest \
  pytest-cov \
  pytest-runner \
  setuptools
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev

启动Lidar

第一个终端

source ./install/setup.bash
ros2 run rplidar_ros rplidarNode 

第二个终端

source ./install/setup.bash
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0  world laser_frame  

第三个终端

source ./install/setup.bash
rviz2 ./install/rplidar_ros/share/rplidar_ros/rviz/rplidar.rviz

运行 Rplidar 节点并使用测试应用程序查看

source ./install/setup.bash
ros2 run rplidar_ros rplidarNodeClient