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Package Summary

The rplidar_python package

Package Summary

The rplidar_python package

Package Summary

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 sensor_msgs/LaserScan type. sensor publish topic every frame, one frame contain 360 laser data.

Published Topic

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 here

Wiki: rplidar driver in python (last edited 2017-04-06 06:25:01 by DinnerHowe)