记录Jetson Nano安装RPLidar ROS2
参考github rplidar_ros2官方教程
配置
Jetson Nano - Ubuntu 18.04 + ROS2 Eloquent
Rplidar A2
RPLidar 驱动安装
// 新建工作空间
source ~/.bashrc
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
// 克隆rplidar_ros2项目
git clone https://github.com/CreedyNZ/rplidar_ros2.git
cd ..
// 编译
source /opt/ros/eloquent/setup.sh
colcon build --symlink-install
// 配置工作空间
sudo gedit ~/.bashrc
source ~/ros2_ws/install/setup.bash
// 查看rplidar串行接口
ls -l /dev |grep ttyUSB
// 开启权限 ttyUSB0 是串口名
sudo chmod 666 /dev/ttyUSB0
如果报错：bash: colcon: 未找到命令，安装：
sudo apt update && sudo apt install -y \build-essential \cmake \git \python3-colcon-common-extensions \python3-pip \python-rosdep \python3-vcstool \wget
# install some pip packages needed for testing
sudo -H python3 -m pip install -U \argcomplete \flake8 \flake8-blind-except \flake8-builtins \flake8-class-newline \flake8-comprehensions \flake8-deprecated \flake8-docstrings \flake8-import-order \flake8-quotes \pytest-repeat \pytest-rerunfailures
# [Ubuntu 16.04] install extra packages not available or recent enough on Xenial
python3 -m pip install -U \pytest \pytest-cov \pytest-runner \setuptools
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \libasio-dev \libtinyxml2-dev
启动Lidar
第一个终端
source ./install/setup.bash
ros2 run rplidar_ros rplidarNode
第二个终端
source ./install/setup.bash
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 world laser_frame
第三个终端
source ./install/setup.bash
rviz2 ./install/rplidar_ros/share/rplidar_ros/rviz/rplidar.rviz
运行 Rplidar 节点并使用测试应用程序查看
source ./install/setup.bash
ros2 run rplidar_ros rplidarNodeClient
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