<<PackageHeader( rplidar_python )>> <<TOC(4)>>

== Package Summary ==
 . A ROS node for rplidar written in python, which you may need to change port name, if you wanna custom you setting.

 * Maintainer status: maintained
 * Maintainer: Zhihao Xu < zhihao@iscas.ac.cn>
 * Download: https://github.com/DinnerHowe/rplidar_python.git
 * Author: Zhihao Xu
 * License: TODO

== Overview ==
 . Before starting this tutorial, make sure you installed two python libs construct and pyserial. The rplidar_python package provides an other solution for RPlidar sensor usage in ros.This packge also allow robot launches a 360 degree scanning map through gmapping module without twisting.

== Hardware Requirements ==
 . to use rplidar_python, you should get a robot that provides odometry, like Turtlebot. Also,you need a RPlidar sensor. Here we use RPLIDAR 360 laser scanner development kit.

 . we use RPlidar to replace kinect sensor and we mount it in the position of kinect,thus kinect tf frame is useful for RPlidar sensor as well.

== Launch Example ==
 . to make a map by RPlidar, you should launch rplidar_gmapping_demo.launch like:
 {{{
   roslaunch rplidar_python rplidar_gmapping_demo.launch
}}}
 Or you may wanna see laser frame only by typing following command:
 {{{
   roslaunch rplidar_python rplidar_demo.launch
}}}

== Node ==
 . driver for RPlidar. Automatically starts sensor and convert data stream into <<MsgLink(sensor_msgs/LaserScan)>> type. sensor publish topic every frame, one frame contain 360 laser data.

=== Published Topic ===
 . /scan(<<MsgLink(sensor_msgs/LaserScan)>>)
  . output Laser scans to create the map from

=== Parameters ===
 . range_min (flaot default 0.15)
  . the min range that laser can scan
 range_max (float default 6.0)
  . the min range that laser can scan
 frame_id (string default 'laser')
  . rplidar frame
 angle_max(float default pi)
  . the max angle that laser can reach
 angle_min(float default -pi)
  . the min angle that laser can reach
 angle_increment(float default -0.017453292519943295)
  . angular distance between measurements
 scan_time (float)
  . time between scans
 ranges (float[])
  . range data

 . RPlidar c++ tutorial please check at [[rplidar|here]]

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