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release v2.0.0
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‎CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package rplidar_ros
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.0.0 (2021-10-8)
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------------------
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* Update RPLIDAR SDK to 2.0.0
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* [new feature] 1.redesign the skelton of the sdk. 2.support Rplidar S2
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* Contributors: tony,WubinXia
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1.10.0 (2019-02-22)
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------------------

‎CMakeLists.txt‎

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project(rplidar_ros)
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set(RPLIDAR_SDK_PATH "./sdk/")
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
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FILE(GLOB RPLIDAR_SDK_SRC
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"${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"

‎README.md‎

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roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2)
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,
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roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3)
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or
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,
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roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1)
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or
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roslaunch rplidar_ros view_rplidar_s2.launch (for RPLIDAR S2)
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You should see rplidar's scan result in the rviz.
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roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)
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,
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roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)
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or
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,
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roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)
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or
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roslaunch rplidar_ros rplidar_s2.launch (for RPLIDAR S2)
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rosrun rplidar_ros rplidarNodeClient
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You should see rplidar's scan result in the console
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Notice: the different is serial_baudrate between A1/A2 and A3/S1
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Notice: the different is serial_baudrate between A1/A2<115200> , A3/S1<256000> and S2<1000000>
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RPLidar frame
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=====================================================================

‎launch/rplidar_s2.launch‎

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<launch>
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<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
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<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
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<param name="serial_baudrate" type="int" value="1000000"/>
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<param name="frame_id" type="string" value="laser"/>
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<param name="inverted" type="bool" value="false"/>
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<param name="angle_compensate" type="bool" value="true"/>
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</node>
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</launch>

‎launch/rplidar_t1.launch‎

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<launch>
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<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
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<param name="channel_type" type="string" value="udp"/>
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<param name="udp_ip" type="string" value="192.168.11.2"/>
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<param name="udp_port" type="int" value="8089"/>
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<param name="frame_id" type="string" value="laser"/>
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<param name="inverted" type="bool" value="false"/>
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<param name="angle_compensate" type="bool" value="true"/>
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</node>
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</launch>

‎launch/view_rplidar_s2.launch‎

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<!--
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Used for visualising rplidar in action.
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It requires rplidar.launch.
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-->
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<launch>
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<include file="$(find rplidar_ros)/launch/rplidar_s2.launch" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
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</launch>

‎launch/view_rplidar_t1.launch‎

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<!--
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Used for visualising rplidar in action.
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It requires rplidar.launch.
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-->
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<launch>
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<include file="$(find rplidar_ros)/launch/rplidar_t1.launch" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
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</launch>

‎sdk/Makefile‎

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#/*
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# * RPLIDAR SDK
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# *
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# * Copyright (c) 2009 - 2014 RoboPeak Team
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# * http://www.robopeak.com
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# * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
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# * http://www.slamtec.com
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# *
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# */
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#/*
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# * Redistribution and use in source and binary forms, with or without
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# * modification, are permitted provided that the following conditions are met:
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# *
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# * 1. Redistributions of source code must retain the above copyright notice,
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# * this list of conditions and the following disclaimer.
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# *
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# * 2. Redistributions in binary form must reproduce the above copyright notice,
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# * this list of conditions and the following disclaimer in the documentation
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# * and/or other materials provided with the distribution.
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# *
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# * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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# * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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# * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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# * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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# * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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# * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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# * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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# * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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# * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# *
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# */
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#
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HOME_TREE := ../
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MODULE_NAME := $(notdir $(CURDIR))
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include $(HOME_TREE)/mak_def.inc
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CXXSRC += src/sl_lidar_driver.cpp \
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src/hal/thread.cpp\
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src/sl_crc.cpp\
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src/sl_serial_channel.cpp\
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src/sl_tcp_channel.cpp\
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src/sl_udp_channel.cpp
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C_INCLUDES += -I$(CURDIR)/include -I$(CURDIR)/src
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ifeq ($(BUILD_TARGET_PLATFORM),Linux)
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CXXSRC += src/arch/linux/net_serial.cpp \
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src/arch/linux/net_socket.cpp \
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src/arch/linux/timer.cpp
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endif
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ifeq ($(BUILD_TARGET_PLATFORM),Darwin)
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CXXSRC += src/arch/macOS/net_serial.cpp \
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src/arch/macOS/net_socket.cpp \
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src/arch/macOS/timer.cpp
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endif
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all: build_sdk
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include $(HOME_TREE)/mak_common.inc
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clean: clean_sdk

‎sdk/README.txt‎

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Copyright (c) 2009 - 2014 RoboPeak Team
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Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
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Copyright (c) 2014 - 2021 Shanghai Slamtec Co., Ltd.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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RoboPeak Website: http://www.robopeak.com
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SlamTec HomePage: http://www.slamtec.com
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RPLIDAR_SDK_VERSION: 1.10.0
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RPLIDAR_SDK_VERSION: 2.0.0
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Note: The SDK version may not up-to-date.
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rplidar product: http://www.slamtec.com/en/Lidar

‎sdk/include/rplidar.h‎

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#include "rplidar_driver.h"
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#define RPLIDAR_SDK_VERSION "1.12.0"
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#define SLAMTEC_LIDAR_SDK_VERSION SL_LIDAR_SDK_VERSION

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