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Lidar

For more information about lidar, please visit page of rplidar. In this tutorial, we will basically install rplidar from source code and run it.

Clone source code of rplidar in your workspace and build it:

> cd ~/catkin_ws/src
> git clone https://github.com/robopeak/rplidar_ros.git -b slam
> cd ~/catkin_ws
> catkin_make

Change the access permissions to rplidar.

> sudo chmod 777 /dev/ttyUSB0

In order to just run rplidar:

> roslaunch rplidar_ros rplidar.launch

or to run rplidar with rviz:

> roslaunch rplidar_ros view_rplidar.launch