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rursprung / fhgr-mrproj2

A ROS 1 based tank with a LIDAR.
GNU General Public License v3.0
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add `rplidar_ros` for HW launch #49

Closed rursprung closed 1 year ago

rursprung commented 1 year ago

the rplidar_ros package is used to read the data from the physical LIDAR and create ROS messages out of it. this package is provided by the manufacturer of the LIDAR.

note that after this commit you need to run

rosdep install --from-paths . -i

again. and on RPi used on the robot you once need to run the script to set up the new udev rules (after rosdep install as it needs rplidar_ros to be present):

$(rospack find rplidar_ros)/scripts/create_udev_rules.sh
rursprung commented 1 year ago

@joel5399: can you please test this on the RPi? i think that the default launch file from rplidar is ok as the FHGR documentation also said to run roslaunch rplidar_ros view_rplidar.launch which then runs the same launch file. but they have other launch files for other rplidar versions and i'm unsure which one we have (it's not written anywhere on moodle).

if you run the mentioned shell scripts and then run the launch file you should be able to then also run rviz manually and see the rplidar data visualised:

rosrun rviz rviz -d $(rospack find rplidar_ros)/rviz/rplidar.rviz

(completely untested as i'd need the RPi + LIDAR for this, sorry)