SLAMTEC RPLIDAR S2

Links

• RPLIDAR S2

Documents

• RPLIDAR S2 Datasheet
• RPLIDAR S2 Development Kit User Manual
• RPLIDAR S2 Interface Protocol
• RPLIDAR S2 3D Model (IGS)

Setup

Note

The setup of specific udev rules for USB-based 2D laser scanners may not be possible because it is the CP2102N USB to UART Bridge Controller (or other alike) that is communicating with the operating system and not the sensor itself...

udevadm info -a -n /dev/ttyUSB0

ROS 1 Noetic

sudo apt install ros-noetic-rplidar-ros

ROS 2 Foxy

# sudo apt install ros-foxy-rplidar-ros
# (much older version 2.0.2-1focal.20230527.062031
# compared to ros-noetic-rplidar-ros: 2.1.5-1focal.20240913.193218)

cd ~/ros2_ws/src/
git clone git@github.com:Slamtec/rplidar_ros.git

cd rplidar_ros/
git checkout ros2

cd ~/ros2_ws/
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --event-handlers summary+ status+ console_cohesion+ console_direct+ console_start_end+ console_stderr+

source install/setup.bash

Launch

ROS 1 Noetic

source /opt/ros/noetic/setup.bash

roslaunch rplidar_ros rplidar_s2.launch

rplidar_s2.launch

<launch>

  <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode"
        output="screen">

    <param name="serial_port"      type="string" value="/dev/ttyUSB0"/>
    <param name="serial_baudrate"  type="int"    value="1000000"/>
    <param name="frame_id"         type="string" value="laser"/>
    <param name="inverted"         type="bool"   value="false"/>
    <param name="angle_compensate" type="bool"   value="true"/>
    <param name="scan_frequency"   type="double" value="10.0"/>

  </node>

</launch>

ROS 2 Foxy

source /opt/ros/foxy/setup.bash
source /home/user/ros2_ws/install/setup.bash

ros2 launch rplidar_ros rplidar_s2_launch.py

rplidar_s2_launch.py

#!/usr/bin/env python3

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import LogInfo
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    channel_type     = LaunchConfiguration('channel_type'    , default='serial')
    serial_port      = LaunchConfiguration('serial_port'     , default='/dev/ttyUSB0')
    serial_baudrate  = LaunchConfiguration('serial_baudrate' , default='1000000') #for s2 is 1000000
    frame_id         = LaunchConfiguration('frame_id'        , default='laser')
    inverted         = LaunchConfiguration('inverted'        , default='false')
    angle_compensate = LaunchConfiguration('angle_compensate', default='true')
    scan_mode        = LaunchConfiguration('scan_mode'       , default='DenseBoost')

    return LaunchDescription([
        DeclareLaunchArgument(
            'channel_type',
            default_value=channel_type,
            description='Specifying channel type of lidar'),

        DeclareLaunchArgument(
            'serial_port',
            default_value=serial_port,
            description='Specifying usb port to connected lidar'),

        DeclareLaunchArgument(
            'serial_baudrate',
            default_value=serial_baudrate,
            description='Specifying usb port baudrate to connected lidar'),

        DeclareLaunchArgument(
            'frame_id',
            default_value=frame_id,
            description='Specifying frame_id of lidar'),

        DeclareLaunchArgument(
            'inverted',
            default_value=inverted,
            description='Specifying whether or not to invert scan data'),

        DeclareLaunchArgument(
            'angle_compensate',
            default_value=angle_compensate,
            description='Specifying whether or not to enable angle_compensate of scan data'),

        DeclareLaunchArgument(
            'scan_mode',
            default_value=scan_mode,
            description='Specifying scan mode of lidar'),

        Node(
            package='rplidar_ros',
            executable='rplidar_node',
            name='rplidar_node',
            parameters=[{'channel_type':channel_type,
                         'serial_port': serial_port,
                         'serial_baudrate': serial_baudrate,
                         'frame_id': frame_id,
                         'inverted': inverted,
                         'angle_compensate': angle_compensate,
                         'scan_mode': scan_mode}],
            output='screen'),
    ])