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Package Summary

The rplidar_python package

Package Summary

The rplidar_python package

Overview

the rplidar_python package provides a 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.

Example

to make a map by RPlidar, you should launch rplidar_gmapping_demo.launch.

roslaunch rplidar_python rplidar_gmapping_demo.launch

Nodes

rplidar_scan_ver3.py

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

/scan(sensor_msgs/LaserScan)

output Laser scans to create the map from

Parameters

range_min (flaot default 0.15)

range_max (float default 6.0)

frame_id (string default 'laser')

angle_max(float default pi)

angle_min(float default -pi)

angle_increment(float default -0.017453292519943295)

scan_time (float)

ranges (float[])


2018-12-15 12:13