节点

rplidarNode主要是驱动雷达，通过读取雷达扫描的原始数据，使用封装的SDK转换雷达扫描到的信息。

rplidarNode

发布的话题

scan (sensor_msgs/LaserScan)

发布雷达扫描话题

服务

stop_motor (std_srvs/Empty)

停止雷达

start_motor (std_srvs/Empty)

启动雷达

参数

serial_port (string, default: /dev/ttyUSB0)

端口名称

serial_baudrate (int, default: 115200)

串口通信波特率

frame_id (string, default: laser_frame)

雷达的帧 ID

inverted (bool, default: false)

激光雷达是否倒置安装

angle_compensate (bool, default: false)

是否需要进行角度补偿

scan_mode (string, default: std::string())

雷达扫描模式

原始话题代码

sensor_msgs/LaserScan.msg

Raw Message Definition

# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data

Header header            # timestamp in the header is the acquisition time of 
                         # the first ray in the scan.
                         #
                         # in frame frame_id, angles are measured around 
                         # the positive Z axis (counterclockwise, if Z is up)
                         # with zero angle being forward along the x axis
                         
float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]

float32 time_increment   # time between measurements [seconds] - if your scanner
                         # is moving, this will be used in interpolating position
                         # of 3d points
float32 scan_time        # time between scans [seconds]

float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]

float32[] ranges         # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities    # intensity data [device-specific units].  If your
                         # device does not provide intensities, please leave
                         # the array empty.

Compact Message Definition

std_msgs/Header header
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities