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Home » RaceBot入门教程 » racebot入门教程-测试-激光雷达RPlidar A2测试

racebot入门教程-测试-激光雷达RPlidar A2测试

racebot入门教程-测试-激光雷达RPlidar A2测试

说明:

  • 介绍如何在racebot中测试Rplidar A2激光雷达

相关设备:

测试步骤:

  • [RaceBot] 启动雷达
$ roslaunch racebot laser.launch (新版)
$ roslaunch racebot rplidar.launch (旧版)
  • [Remote PC] 读取数据
$ rostopic echo /scan 
  • 数据如下
    header: 
  seq: 123
  stamp: 
    secs: 1584772650
    nsecs: 163255056
  frame_id: laser
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.0174532923847
time_increment: 0.000219952402404
scan_time: 0.0789629146457
range_min: 0.15000000596
range_max: 12.0
ranges: [5.419000148773193, 5.394000053405762, inf, 5.322000026702881, inf, 3.8970000743865967, inf, 1.9730000495910645, 5.063000202178955, 5.081999778747559, 5.127999782562256, 5.440999984741211, 5.434999942779541, 3.950000047683716, 4.045000076293945, 5.254000186920166, 5.204999923706055, inf, 1.8899999856948853, 1.9019999504089355, 1.871999979019165, 1.8880000114440918, 1.8990000486373901, 1.9040000438690186, 1.9010000228881836, 1.9049999713897705, 1.940999984741211, 5.269000053405762, inf, 5.35099983215332, inf, 5.386000156402588, inf, inf, inf, 2.2079999446868896, 2.2899999618530273, inf, 4.828000068664551, inf, 2.496999979019165, 2.440999984741211, 2.3550000190734863, 2.325000047683716, 2.2320001125335693, 2.180999994277954, 2.134000062942505, 2.0880000591278076, 2.0460000038146973, 2.005000114440918, 1.9769999980926514, 1.9459999799728394, 1.930999994277954, 1.9620000123977661, 1.996999979019165, 2.0439999103546143, 2.0850000381469727, 2.1449999809265137, 2.2109999656677246, 2.257999897003174, 2.312000036239624, inf, 3.9560000896453857, 4.052000045776367, 4.202000141143799, 4.335999965667725, 4.505000114440918, 5.896999835968018, inf, 4.335999965667725, 4.354000091552734, 6.908999919891357, 4.335999965667725, 4.322000026702881, 4.38700008392334, 4.285999774932861, 4.2789998054504395, 4.254000186920166, 4.230999946594238, 4.61899995803833, 4.71999979019165, 4.297999858856201, 4.3379998207092285, 4.4039998054504395, 4.458000183105469, 4.366000175476074, 4.163000106811523, 4.132999897003174, inf, 4.1020002365112305, 3.994999885559082, 3.984999895095825, 4.026000022888184, 4.126999855041504, 4.646999835968018, 4.6529998779296875, 4.6570000648498535, 4.65500020980835, 4.666999816894531, 4.677000045776367, 4.683000087738037, 4.702000141143799, 4.716000080108643, 4.741000175476074, 4.747000217437744, 4.757999897003174, 8.01099967956543, 8.053000450134277, 8.02299976348877, 8.053000450134277, 8.09000015258789, 7.5269999504089355, 7.111000061035156, 6.8520002365112305, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 4.301000118255615, 4.146999835968018, 4.013999938964844, 3.9040000438690186, 3.819999933242798, 3.75, 3.7939999103546143, 3.805999994277954, 3.7100000381469727, 3.6649999618530273, inf, inf, inf, inf, 9.20199966430664, 9.116000175476074, inf, inf, 3.0920000076293945, 3.0360000133514404, 3.003999948501587, 2.9560000896453857, 2.9210000038146973, 2.872999906539917, 2.8380000591278076, 2.812999963760376, 2.759999990463257, 2.740000009536743, 2.7179999351501465, 2.8550000190734863, 2.809999942779541, inf, 2.927999973297119, 3.059000015258789, 3.190999984741211, 3.3540000915527344, 3.5199999809265137, 4.548999786376953, 4.0970001220703125, 4.315000057220459, inf, inf, inf, inf, inf, 2.3959999084472656, 2.3919999599456787, 2.4059998989105225, 2.615999937057495, 2.4200000762939453, 2.3550000190734863, 2.3519999980926514, 2.3469998836517334, 2.3320000171661377, 2.3320000171661377, 2.3259999752044678, 2.3399999141693115, 2.3269999027252197, 2.3369998931884766, 2.3369998931884766, 2.325000047683716, 2.325000047683716, 2.322999954223633, 2.3259999752044678, 2.3299999237060547, inf, 2.3329999446868896, 2.3469998836517334, 2.3499999046325684, 2.3540000915527344, 2.3610000610351562, 2.381999969482422, 2.3889999389648438, 2.4260001182556152, 2.4110000133514404, 2.4140000343322754, 2.427000045776367, 2.447000026702881, 2.4649999141693115, 2.4739999771118164, 2.48799991607666, 2.50600004196167, 2.5269999504089355, 2.5460000038146973, 2.565000057220459, 2.5859999656677246, 2.6080000400543213, 2.6389999389648438, 2.6659998893737793, 2.688999891281128, 2.7249999046325684, inf, 2.75600004196167, 2.7909998893737793, 2.822000026702881, 2.8580000400543213, 2.8929998874664307, 2.936000108718872, 2.9739999771118164, 3.015000104904175, 3.068000078201294, 3.122999906539917, 3.1480000019073486, inf, inf, 0.5120000243186951, 0.5059999823570251, 0.5019999742507935, 0.4909999966621399, 0.47999998927116394, 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intensities: [47.0, 47.0, 0.0, 47.0, 0.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 0.0, 47.0, 0.0, 0.0, 0.0, 47.0, 47.0, 0.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 47.0, 0.0, 47.0, 0.0, 0.0, 47.0, 0.0, 47.0, 47.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0]

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标签: racebot入门教程