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robopeak / rplidar_ros

BSD 2-Clause "Simplified" License
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What is the correct orientation of RPLidar? #77

Closed subodh-malgonde closed 5 years ago

subodh-malgonde commented 6 years ago

I want to install the sensor on my robot such that there is no transform from base_link to laser i.e. no translation and no rotation. Should the tapering end of the sensor be facing the back of my robot, as shown in the picture?

screen shot 2018-10-24 at 1 43 25 pm

Or should I place it the other way round?

GYKrauss commented 5 years ago

The green arrow marked "x" is facing downwards. This means that the motor end is really the "front." If you want to avoid any tf, it must be placed "backwards."

kintzhao commented 5 years ago

keep your any install by configure your TF-tree frame: base_link -> laser

such as: (13/57)

alrad32 commented 1 year ago

Hello, Where should the origin of the RPLidar be in the Z-axis? Is it right on the same plane as the laser transmitter and receiver?