ros使用RPLIDAR激光雷达

 

1.首先下载RPLIDAR的驱动功能包　　https://github.com/robopeak/rplidar_ros

2.然后解压放到~/catkin_ws/src目录下

3.执行catkin_make　　去编译rplidarNode and rplidarNodeClient

4.运行rplidar node 观察rviz

roscore
roslaunch rplidar_ros view_rplidar.launch

 

5.运行rplidar node用测试程序观察

roslaunch rplidar_ros rplidar.launch

rosrun rplidar_ros rplidarNodeClient

 

查看rplidar.launch启动文件

<launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
  <param name="serial_baudrate"     type="int"    value="115200"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>
</launch>

 发布节点源码

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#include "std_srvs/Empty.h"
#include "rplidar.h"

#ifndef _countof
#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
#endif

#define DEG2RAD(x) ((x)*M_PI/180.)

using namespace rp::standalone::rplidar;

RPlidarDriver * drv = NULL;

void publish_scan(ros::Publisher *pub,
                  rplidar_response_measurement_node_t *nodes,
                  size_t node_count, ros::Time start,
                  double scan_time, bool inverted,
                  float angle_min, float angle_max,
                  std::string frame_id)
{
    static int scan_count = 0;
    sensor_msgs::LaserScan scan_msg;

    scan_msg.header.stamp = start;
    scan_msg.hea