Hello, I’ve installed the ROS 2 rplidar package, but when running the lsusb or ls /dev I don’t see any ttyUSB listed. Seems like pi is not recognizing the Slamtec LiDAR?

Do I need to install the SDK first?

Hi all,

I have been trying rplidar_ros package to run RPLidar hardware and it works marvelous in RPLidar A1 series.
Currently, I would like to change the hardware to RPLidar S2 series for better outcome.

Could anyone help explain how to add the s2 launch file?

Since I am quite new to ROS and been following to build the S2 package from this repo (https://github.com/Slamtec/sllidar_ros2) but failed.

OS Ubuntu 22.04
ROS Humble Hawksbill
Raspberry PI 4

Not shure where to report this problem but package should be version 2.1.0. Otherwise the launch files will not work.

When I run the node I get : [ERROR] [1699318280.551112639] []: Error, operation time out. RESULT_OPERATION_TIMEOUT!
I'm using the gpio pins on the nvidia jetson, how do I fix it?

looking for rp lidar s2 ros2 package.

As pointed out by @gregorthebigmac, the test_rplidar.launch.py file is broken because the rplidarNodeclient executable no longer exists.

Hello,

I've been working with the slamtec RPLidar A1M8 with ROS 2 Humble. I'm getting similar errors to those described in this thread when using RVIZ2. The only way to resolve it without modifying source code seems to be significantly reducing the framerate in RVIZ.

It would appear the original rplidar_ros repository (ros2 branch) has integrated the suggested fixes from the forum above as well as updated to use their SDK 2.0.0, which adds an additional scan frequency parameter.

Since your repository is the one associated with the rosdep build of the rplidar_ros package, would you mind updating your repo to reflect these new changes and then re-building for rosdep? I know I can build the slamtec repo from source, but I'm hoping to use this with my students, and it would be great just to be able to have them do the rosdep install of dependencies rather than building this package in their workspace.

Thanks! And let me know if I can be of any help in this process.
Briana

I have not received any feedback from the upstream, and I am continuing to get the occasional bug report filed on this repo. I'd like to be doing releases, but don't want to step on the toes of the upstream.

There have been requests for ROS 2 support upstream, as well as my inital offer to merge efforts and keep it in their namespace.

@Slamtec do you have any issue with me releasing this package into ROS 2? I do not mind maintaining this source separately.

Hi,
I am trying to build the rplidar_ros project.
I have installed ROS2 Foxy on Windows 10.
After that I run "call MY_PATH\local_setup.bat"
and I run into the colcon "colcon build --merge-install"
I get:
Starting >>> rplidar_ros
Failed <<< rplidar_ros [5.47s, exited with code 1]

Summary: 0 packages finished [5.97s]
1 package failed: rplidar_ros

No stderror logs are present.
In the streams log the last line is "[5.422s] Invoked command in 'D:\ROS2\ws\build\rplidar_ros' returned '1': CL=/MP C:\Program Files\CMake\bin\cmake.EXE --build D:\ROS2\ws\build\rplidar_ros --config Release"

How can I solve?

ROS2 uses colcon, the README.md still referes to catkin

i am currently using the rplidar A3 sensor on ROS2 Foxy on Linux. Currently, the sensor does spin, however, it only scans once and stops the process. It then states that there is a memory corruption in output terminal. Additionally, when i stop the program, the sensor continues to spin until I disconnect the USB cable. The USB port in used is dev/ttyUSB2 and the baudrate is 256000. i require assistance in solving this issue.

noting to work when i enter ros2 run rplidar_ros rplidarNodeClient

my specific is
UP Squared board (amd64)
ROS2 Galactic
Ubuntu 20.04.3

RPLidar A3

i followed all of instructions

it just stopped

The device info, health info etc. only shows up when the process gets terminated with ctrl+c. I think there is something blocking into the code what prevents the output to be shown earlier.
Maybe you also want to consider to upgrade to the newer SDK version.
Ros2 Output:

ros2 launch rplidar_ros  view_rplidar_a3.launch.py 
[INFO] [launch]: All log files can be found below /home/xxyy/.ros/log/2020-04-27-08-46-17-056475-dgdsrggdrgdg
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rplidar_composition-1]: process started with pid [12257]
[INFO] [rviz2-2]: process started with pid [12258]
[rviz2-2] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[rviz2-2] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [rviz2-2]: process has finished cleanly [pid 12258]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rplidar_composition-1] [INFO] [rplidar_composition]: RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '1.10.0'
[rplidar_composition-1] [INFO] [rplidar_composition]: RPLIDAR S/N: drgdrggdrgdrgdrg4654645
[rplidar_composition-1] [INFO] [rplidar_composition]: Firmware Ver: 1.25
[rplidar_composition-1] [INFO] [rplidar_composition]: Hardware Rev: 6
[rplidar_composition-1] [INFO] [rplidar_composition]: RPLidar health status : '0'
[rplidar_composition-1] [INFO] [rplidar_composition]: current scan mode: Sensitivity, max_distance: 25.0 m, Point number: 15.9K , angle_compensate: 4
[rplidar_composition-1] [INFO] [rclcpp]: signal_handler(signal_value=2)
[INFO] [rplidar_composition-1]: process has finished cleanly [pid 12257]

Ros Output:

roslaunch rplidar_ros view_rplidar_a3.launch 
... logging to /home/xxyy/.ros/log/1aafb988-8857-11ea-86f0-e470b8755927/roslaunch-esfsefsefef.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://waddwadwd:36813/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.4
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/scan_mode: Boost
 * /rplidarNode/serial_baudrate: 256000
 * /rplidarNode/serial_port: /dev/ttyUSB0

NODES
  /
    rplidarNode (rplidar_ros/rplidarNode)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [13031]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1aafb988-8857-11ea-86f0-e470b8755927
process[rosout-1]: started with pid [13042]
started core service [/rosout]
process[rplidarNode-2]: started with pid [13045]
process[rviz-3]: started with pid [13046]
[ INFO] [1587971829.054558344]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
RPLIDAR S/N: ergtrgesdrs4r4575t45z
[ INFO] [1587971829.559361037]: Firmware Ver: 1.25
[ INFO] [1587971829.559456752]: Hardware Rev: 6
[ INFO] [1587971829.560712844]: RPLidar health status : 0
[ INFO] [1587971830.179062571]: current scan mode: Boost, max_distance: 25.0 m, Point number: 15.9K , angle_compensate: 4
^C[rviz-3] killing on exit
[rplidarNode-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Hey,

I got rplidar s1 connected to Asus tinker board but can't run this.

ros2 launch rplidar_ros rplidar_s1.launch.py 

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rplidar_composition-1]: process started with pid [23259]
[rplidar_composition-1] [ERROR] [rplidar_composition]: Error, operation time out. RESULT_OPERATION_TIMEOUT!

I have checked /dev and baud rate

Hi there,

I found my RPLidar-A1 drift much more in ROS 2 than ROS 1.
Does anyone encounter this issue?

ROS 1 - Melodic

ROS 2 - Foxy