Rplidar is a low-cost 2D LIDAR solution developed by Robopeak Team,slamtec Corporation. It can scan the 360° environment within a 6 degree radius. Rplidar's output is ideal for building maps, doing slam, or building 3D models.
First you have to have a workspace, for example:
How to build a Rplidar Ros package
> 1) Clone this project to Catkin's workspace src folderHttps://github.com/robopeak/rplidar_ros (This is)
> 2) Run Catkin_make to build Rplidarnode and Rplidarnodeclient
How to run the Rplidar Ros package
Check the permissions of the Rplidar serial port:
Ls-l/dev | grep TTYUSB
Add Write permission: (e.g./dev/ttyusb0)
sudo chmod 666/dev/ttyusb0
There are two ways to run the Rplidar Ros package
I. Running Rplidar nodes and views in Rviz
roslaunch rplidar_ros view_rplidar.launch
should be able to see the Rplidar scan results in the Rviz.
ii. Running Rplidar node and view
roslaunch rplidar_ros rplidar.launch
rosrun rplidar_ros rplidarnodeclient
you should see the Rplidar scan results in the console
Use of Ubuntu RPLIDAR A2