Rplidar A1使用并改为ROS中3D点云输出（PointCloud2）

Rplidar A1使用并改为ROS中3D点云输出

3D激光雷达价格不菲，在研究过程中，可以尝试将2D激光雷达的点云输出改为3D的点云输出，以进行3D激光雷达的部分试验。本文将安装Rplidar的依赖项并且在ROS的Rviz上可视化。并将Rplidar的/scan信息改为/PointCloud2信息进行输出，以通过2D激光雷达实现3D激光雷达的模拟应用。

Rplidar安装

建立工作空间（也可以利用现有的），编译包

$ mkdir -p  ~/turtlebot_ws/src
$ cd   ~/turtlebot_ws/src
$ git clone https://github.com/ncnynl/rplidar_ros.git#这部分要到思岚科技的github去找具体链接，到目前克隆链接是https://github.com/robopeak/rplidar_ros.git

添加环境变量

source /home/ubu/turtlebot_ws/devel/setup.bash 
source ~/.bashrc

检查、设置端口权限

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

在此Rplidar应该已经可以使用

测试

在工作空间下运行rplidar和打开rviz查看

roslaunch rplidar_ros rplidar.launch
rosrun rviz rviz

设置相关配置后可以看见2D雷达的输出图像

修改后完整代码

从“LaserScan”和“PointCloud2”参数对比可以看出，“PointCloud2”可以满足三维显示的需求，因此修改rplidar_ros。其中“client.cpp”不需要修改，“node.cpp”修改如下：

/*
 *  RPLIDAR ROS NODE
 *
 *  Copyright (c) 2009 - 2014 RoboPeak Team
 *  http://www.robopeak.com
 *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
 *  http://www.slamtec.com
 *
 */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

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

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <boost/foreach.hpp>

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

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


using namespace rp::standalone::rplidar;
typedef pc