TK1入门教程硬件篇-外接RPlidar A2

TK1入门教程硬件篇-外接RPlidar A2

说明：

• 介绍如何接入RPlidar A2，并使用ROS测试。

驱动安装：

• 创建工作空间，并安装驱动：

cd ~/turtlebt_ws/src #这里我在之前的教程，已经创建就不重复
git clone https://github.com/robopeak/rplidar_ros.git

• 单独对软件包编译：

cd ..
catkin_make --pkg rplidar_ros

• 生成 rplidarNode 和 rplidarNodeClient 节点

测试使用：

• 因为挂载多个USB设备，需要检查雷达使用的端口号

 dmesg | grep ttyUSB*

• 效果：

$ dmesg | grep ttyUSB*
[   11.224077] usb 2-1.3: FTDI USB Serial Device converter now attached to ttyUSB0
[   11.290702] usb 2-1.4: cp210x converter now attached to ttyUSB1

• 查看cp210x对应的USB，为ttyUSB1。

• 创建别名：

cd ~/turtlebot_ws/src/rplidar_ros/
./scripts/create_udev_rules.sh

• 会创建雷达ttyUSB*与别名之间的链接，这里是/dev/rplidar->/dev/ttyUSB1
• 这样只要连接雷达会自动创建别名，就不需要在频繁修改端口号了。
• 注意：不要忘记创建别名后，要重插一次让别名生效。
• 打开rplidar.launch,更换端口号：

vim  launch/rplidar.launch

• 修改/dev/ttyUSB0为/dev/rplidar，如下：

<param name="serial_port"  type="string" value="/dev/rplidar"/>

• 在RVIZ中打开：

roslaunch rplidar_ros view_rplidar.launch

• 可在RVIZ查看到具体的激光效果：

• 查看扫描结果：

roslaunch rplidar_ros rplidar.launch
rosrun rplidar_ros rplidarNodeClient

• 效果：

started roslaunch server http://192.168.0.103:34685/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/serial_baudrate: 115200
 * /rplidarNode/serial_port: /dev/rplidar

NODES
  /
    rplidarNode (rplidar_ros/rplidarNode)
    rplidarNodeClient (rplidar_ros/rplidarNodeClient)

auto-starting new master
process[master]: started with pid [3721]
ROS_MASTER_URI=http://192.168.0.103:11311

setting /run_id to d2561108-290b-11e7-bdbf-00044b7090db
process[rosout-1]: started with pid [3734]
started core service [/rosout]
process[rplidarNode-2]: started with pid [3737]
process[rplidarNodeClient-3]: started with pid [3738]
RPLIDAR running on ROS package rplidar_ros
SDK Version: 1.5.7
^C[rplidarNodeClient-3] killing on exit
[rplidarNode-2] killing on exit
RPLIDAR S/N: CCD292C1E9839EF5C8E49BF61D673C03
Firmware Ver: 1.20
Hardware Rev: 3
RPLidar health status : 0

参考：

• http://wiki.ros.org/rplidar
• http://www.slamtec.com/download/lidar/documents/zh-cn/LR001_SLAMTEC_rplidar_protocol_v0.2_cn.pdf
• http://www.slamtec.com/download/lidar/documents/zh-cn/LR002_SLAMTEC_rplidar_sdk_v0.1_cn.pdf
• rplidar roswiki: http://wiki.ros.org/rplidar
• rplidar HomePage: http://www.slamtec.com/en/Lidar
• rplidar Tutorial: https://github.com/robopeak/rplidar_ros/wiki
• rplidar github : https://github.com/robopeak/rplidar_ros