SLLIDAR ROS2 Package

ROS2 node for SLLIDAR

Visit following Website for more details about SLLIDAR:

SLLidar roswiki: http://wiki.ros.org/sllidar

SLLidar HomePage: http://www.slamtec.com/en/Lidar

SLLidar SDK: https://github.com/Slamtec/sllidar_sdk

SLLidar Tutorial: https://github.com/robopeak/rplidar_ros/wiki

How to install ROS2

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How to configuring your ROS 2 environment

Configuring your ROS 2 environment

How to Create a ROS2 workspace

Create a workspace

Compile & Install sllidar_ros2 package

1. Clone sllidar_ros2 package from github :

   git clone https://github.com/Slamtec/sllidar_ros2.git

2. Build sllidar_ros2 package :

   cd <your_own_ros2_ws>
   colcon build --symlink-install

   if you find output like "colcon:command not found",you need separate install colcon build tools.

3. Package environment setup :

   source ./install/setup.bash

   Note: Add permanent workspace environment variables. It's convenientif the ROS2 environment variables are automatically added to your bash session every time a new shell is launched:

   $echo "source <your_own_ros2_ws>/install/setup.bash" >> ~/.bashrc
   $source ~/.bashrc

Run sllidar_ros2

Run sllidar node and view in the rviz

The command for sllidar A1/A2 is :

ros2 launch sllidar_ros2 view_sllidar_launch.py

The command for sllidar A3 is :

ros2 launch sllidar_ros2 view_sllidar_a3_launch.py

The command for sllidar S1 is :

ros2 launch sllidar_ros2 view_sllidar_s1_launch.py

The command for sllidar S2 is :

ros2 launch sllidar_ros2 view_sllidar_s2_launch.py

The command for sllidar T1 is :

ros2 launch sllidar_ros2 view_sllidar_t1_launch.py

The command for sllidar S1(TCP connection) is :

ros2 launch sllidar_ros2 view_sllidar_s1_tcp_launch.py

Notice: the different is serial_baudrate between A1/A2 and A3/S1

sllidar frame

sllidar frame must be broadcasted according to picture shown in sllidar-frame.png