Enable basic RPLIDAR handling with rplidar-ros - Qualcomm Dragonwing Documentation

Pipeline flow for `rplidar_ros`

The following figure shows the pipeline flow for the rplidar-ros2 sample. The sample gets the driver data from the RPLIDAR SDK, and then publishes the /scan topic.

RPLIDAR hardware feeding the Rplidar SDK, which feeds the Rplidar ROS node that publishes the /scan topic. — The rplidar_ros pipeline.

ROS topics used in the `rplidar-ros2` pipeline

The following table lists the ROS topics used in the rplidar-ros2 pipeline, with the message type and the publisher of each topic.

ROS topic	Type	Published by
`/scan`	`<sensor_msgs::msg::LaserScan>`	`rplidar-ros2` node

Prerequisites

You have set up the device, installed ROS2 Jazzy and the Qualcomm Intelligent Robotics (QIR) SDK on the device according to Install the QIR SDK.
Connect the power supply and USB port of RPLIDAR A3M1.

Run out-of-the-box `rplidar-ros2`

Launch lidar ROS node

Launch the lidar ROS node

source /opt/ros/jazzy/setup.bash
ros2 launch rplidar_ros rplidar_a3_launch.py

Get the topic of this node

List the ROS topics

source /opt/ros/jazzy/setup.bash
ros2 topic list

Echo scan in another terminal

Echo the scan topic

source /opt/ros/jazzy/setup.bash
ros2 topic echo /scan

Terminal log from the RPLIDAR launch file reporting the RPLIDAR S/N, firmware and hardware revision, health status OK, and a 10 Hz scan frequency.

​Pipeline flow for rplidar_ros

​ROS topics used in the rplidar-ros2 pipeline

​Prerequisites

​Run out-of-the-box rplidar-ros2

Pipeline flow for `rplidar_ros`

ROS topics used in the `rplidar-ros2` pipeline

Prerequisites

Run out-of-the-box `rplidar-ros2`