# Rplidar-ros2

Source: [https://docs.qualcomm.com/doc/80-70015-265Y/topic/rplidar-ros2_5_2_3.html](https://docs.qualcomm.com/doc/80-70015-265Y/topic/rplidar-ros2_5_2_3.html)

Rplidar-ros2 示例为 2D 激光扫描仪 RPLIDAR A1/A2/A3/S1/S2/S3 提供了基本的设备处理功能。

图中展示了 rplidar-ros2 示例的 pipeline。示例从 `rplidar` SDK 获取驱动程序数据，然后发布 `/scan` 主题。

Figure : rplidar-ros2 pipeline

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)

有关 pipeline 流程中使用的 ROS 节点和主题的信息，参见 [Rplidar-ros2 的 pipeline 流程](https://docs.qualcomm.com/doc/80-70015-265Y/topic/rplidar-ros2_5_2_3.html#ID-concept-d32488e4173__id-rplidar-ros2-pipeline-in-topic)。

## 用例：运行开箱即用的 rplidar-ros2

**前提条件：**

- 安装 QIRP SDK 和依赖项，参见[编译软件](https://docs.qualcomm.com/doc/80-70015-265Y/topic/build-the-software_4_1.html)和[刷写和安装](https://docs.qualcomm.com/doc/80-70015-265Y/topic/flash-and-install_4_3.html)。
- 在 "Permissive" 模式下按照[使用 SSH](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/how_to.html#use-ssh) 中介绍的步骤启用
          `SSH`。
- RPLIDAR A3M1 已部署。

**步骤：**

1. 启动终端并运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境并运行 rplidar-ros2。

        ssh root@[ip-addr]
        (ssh) export HOME=/opt
        (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
        (ssh) source /usr/bin/ros_setup.bash
        (ssh) ros2 launch rplidar_ros rplidar_a3_launch.py
        Copy to clipboard

## Rplidar-ros2 的 pipeline 流程

Table : Rplidar-ros2 pipeline 中使用的 ROS 主题

| ROS 主题 | 类型 | 发布方 |
| --- | --- | --- |
| /scanCopy to clipboard | <sensor_msgs::msg::LaserScan>Copy to clipboard | `rplidar-ros2` 节点 |

**上一级主题：** [开源示例程序](https://docs.qualcomm.com/doc/80-70015-265Y/topic/open-source-samples_5_2.html)

Last Published: Dec 05, 2024

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