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rplider A2M8をROSで動かす

Last updated at Posted at 2019-07-27

8万ほどのお手軽LidarであるRPLIDAR A2M8を動かす機会があったのでROSでセットアップを行った.

RPLIDARをPCに接続(USB経由で電源も供給される)したら以下のコマンドを実行する.

# packageのインストール
sudo apt-get install ros-kinetic-rplidar-ros

cd ~/catkin_ws/src
git clone https://github.com/robopeak/rplidar_ros.git

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

# 読み書きの権限を付与
sudo chmod 666 /dev/ttyUSB0

source /opt/ros/kinetic/setup.bash

これで設定が完了した.

動作の確認は以下のコマンドを実行する.

roslaunch rplidar_ros view_rplidar.launch

これでrvizがうごいて動作確認できる.

Screenshot from 2019-07-27 15-17-14.png

参考サイト
https://answers.ros.org/question/256509/error-cannot-launch-node-of-type-rplidar_rosrplidarnode-cant-locate-node-rplidarnode-in-package-rplidar_ros/

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