【思岚s3激光雷达】

提示：环境配置为Ubuntu20.04&ROS Noetic

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前言

学习目标
1: 读取lidra数据,并通过rviz进行可视化
2: 获取lidra的角度和距离数据
3: 将角度和距离数据保存成txt或者csv格式数据

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一、参考资料选择

思岚ros版本官方sdk：https://github.com/slamtec/rplidar_ros
http://www.slamtec.com/robostudio
https://www.slamtec.com/cn/Support#rplidar-s3

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

二、在ROS下使用雷达的具体操作

1.下载ros版本下源码后，在工作空间内的src目录下解压

cd catkin_ws/
catkin_make

2.编译成功后插入所购买的雷达，打开终端，运行

ls -l /dev |grep ttyUSB

3.查看当前设备所在usb口，一般默认为ttyUSB0

sudo chmod 666 /dev/ttyUSB0

4.在rviz下进行可视化(注意雷达型号的选择)

I. Run rplidar node and view in the rviz
The command for RPLIDAR S3 is
roslaunch rplidar_ros view_rplidar_s3.launch

(注意该例程与上述例程冲突，运行前需要关闭上述例程)
II. Run rplidar node and view using test application
The command for RPLIDAR S3 is :
roslaunch rplidar_ros rplidar_s3.launch

如果是第一次运行激光雷达，会报错如下： [ERROR] [1723530053.709783387]: Error, unexpected error, code: 80008004 [rplidarNode-2] process has died [pid 4342, exit code 255, cmd /home/sch/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/sch/.ros/log/315c68b0-593c-11ef-a37a-03c60d07af29/rplidarNode-2.log]. log file: /home/sch/.ros/log/315c68b0-593c-11ef-a37a-03c60d07af29/rplidarNode-2*.log 这是因为此时ROS没有权限访问激光雷达的端口，按照以下步骤即可： ls /dev/ttyUSB0 -lh sudo chmod 666 /dev/ttyUSB0

5.先启动雷达，然后运行client程序对数据进行输出

roslaunch rplidar_ros rplidar.launch
rosrun rplidar_ros rplidarNodeClient
雷达发送的数据是0～180度、-180～0度的距离数据；
6.查看节点间的通讯方式
rqt_graph
/rplidarNode节点发布了/scan话题
/rplidar_node_client订阅了/scan话题

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总结

简单描述了思岚S3型号的雷达的使用方法