<> <> == 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 <> type. sensor publish topic every frame, one frame contain 360 laser data. === Published Topic === . /scan(<>) . 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]] ## AUTOGENERATED DON'T DELETE ## CategoryPackage