ROS: Adding RPLIDAR (3 of …)

Following the link:

Start ROS:

roscore

Install RPLidar:

git clone https://github.com/robopeak/rplidar_ros

cd ../catkin_ws

catkin_make

Running with:

roslaunch rplidar_ros rplidar.launch

Tranforms:

rosrun tf static_transform_publisher 0 0 0 0 0 0 world laser 100

View RPLidar data in rviz:

rviz -> add LaserScan -> Topic: /scan

Other commands

Stop lidar:

rosservice call stop_motor

Start lidar:

rosservice call start_motor 

Links to other commands:

http://wiki.ros.org/rplidar