ros2与传感器-思岚激光雷达新驱动sllidar_ros2

ros2与传感器-思岚激光雷达新驱动sllidar_ros2

说明：

• 介绍如何在ros2下使用思岚激光雷达新驱动sllidar_ros2
• 具体产品，点击淘宝地址
• 适合产品rplidar A1/A2/A3/S1/S2

步骤：

• 下载源码

cd ~/sensor_ws/src
git clone https://github.com/ncnynl/sllidar_ros2 

• 编译代码

cd ~/sensor_ws/
colcon build --packages-select sllidar_ros2 

• 启动雷达

ros2 launch sllidar_ros2 view_sllidar_launch.py  #A1/A2
ros2 launch sllidar_ros2 view_sllidar_a3_launch.py #A3
ros2 launch sllidar_ros2 view_sllidar_s1_launch.py  #S1
ros2 launch sllidar_ros2 view_sllidar_s2_launch.py  #S2
ros2 launch sllidar_ros2 view_sllidar_t1_launch.py  #T1
ros2 launch sllidar_ros2 view_sllidar_s1_tcp_launch.py  T1 tcp

• 查看激光数据

rviz2 

• 选择Fixed Frame为laser
• 订阅话题类型LaserScan,选择Topic为/scan