ROS node and test application for RPLIDAR

Visit RoboPeak Website for more details about RPLIDAR.

1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build rplidarNode and rplidarNodeClient

There're two ways to run rplidar ros package

roslaunch rplidar_ros view_rplidar.launch

You should see rplidar's scan result in the rviz.

roslaunch rplidar_ros rplidar.launch

rosrun rplidar_ros rplidarNodeClient

You should see rplidar's scan result in the console

RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png