racebot入门教程-测试-激光雷达RPlidar A2测试

racebot入门教程-测试-激光雷达RPlidar A2测试

说明：

• 介绍如何在racebot中测试Rplidar A2激光雷达

相关设备：

• racebot套件，采购地址

测试步骤：

• [RaceBot] 启动雷达

$ roslaunch racebot laser.launch （新版）
$ roslaunch racebot rplidar.launch （旧版）

• [Remote PC] 读取数据

$ rostopic echo /scan 

• 数据如下

    header: 
  seq: 123
  stamp: 
    secs: 1584772650
    nsecs: 163255056
  frame_id: laser
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.0174532923847
time_increment: 0.000219952402404
scan_time: 0.0789629146457
range_min: 0.15000000596
range_max: 12.0
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