Lidar - RPLidar s1

Command Line

cd catkin_ws/src

git clone <https://Slamtec/rplidar_ros>

cm 

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Home · robopeak/rplidar_ros Wiki

https://github.com/slamtec/rplidar_ros

sudo chmod 666 /dev/ttyUSB0 # 포트 검색후, S1 라이다 맞는 포트 숫자를 적어준다.

roslaunch rplidar_ros view_rplidar_s1.launch

rosrun rplidar_ros rplidarNodeClient

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Reference

SLAMTEC Product Documents Download and Technical Support

Shanghai Slamtec Co., Ltd.

Error Debug

[rplidarNode-2] process has died [pid 3411, exit code -6, cmd /home/isee/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/isee/.ros/log/f40d91d6-bede-11ec-968c-70665563cfb3/rplidarNode-2.log]. log file: /home/isee/.ros/log/f40d91d6-bede-11ec-968c-70665563cfb3/rplidarNode-2.log*

→ 연결선이 덜 물려 있었다.....

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Error, operation time out. RESULT_OPERATION_TIMEOUT! [rplidarNode-2] process has died [pid 24112, exit code 255, cmd /home/bj/catkin_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/bj/.ros/log/22d22484-335e-11ed-b889-70665563cfb3/rplidarNode-2.log]. log file: /home/bj/.ros/log/22d22484-335e-11ed-b889-70665563cfb3/rplidarNode-2*.log

→ rplidar_s1.launch의 파일에 serial_port 부분에 /dev/ttyUSB 을 일치 시켜줘야한다.

ls -al /dev/serial/by-id

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• 문서 RPlidar S1
• SLAMTEC Product Documents Download and Technical Support
• ROS 설치
• https://github.com/slamtec/rplidar_ros
• 설치, review
  • 해당 파일 다운로드

    git clone <https://github.com/Slamtec/rplidar_ros.git>
    

  • https://github.com/Slamtec/rplidar_ros
  • catkin_ws/src 경로로 이동
  • cm
  • 노드 실행

  sudo chmod 666 /dev/ttyUSB0
  roslaunch rplidar_ros view_rplidar_s1.launch # terminal 1
  rosrun rplidar_ros rplidarNodeClient # terminal 2
  

- check

ls -al /dev/serial/by-id
sudo chmod 666 /dev/ttyUSB0