racebot入门教程-测试-激光雷达RPlidar A3测试（室外版）

racebot入门教程-测试-激光雷达RPlidar A3测试（室外版）

说明：

• 介绍如何在racebot中测试Rplidar A3激光雷达

相关设备：

• racebot套件，采购地址
• Rplidar A3激光雷达，采购地址

测试步骤：

• 2020年04月后采购的版本不需要单独配置
• 检查雷达的转接盒的波特率是否已经拔向256000一端
• 修改 rplidar_ros/launch/rplidar.launch 文件为如下：

<!--<param name="serial_baudrate"     type="int"    value="115200"/> A1/A2 -->
<param name="serial_baudrate"     type="int"    value="256000"/>

• 指定波特率为256000

• [RaceBot] 启动雷达

$ roslaunch racebot rplidar.launch

• [Remote PC] 读取数据

$ rostopic echo /scan 

• 数据如下：

header: 
    seq: 510
    stamp: 
        secs: 1597738239
        nsecs: 779279683
    frame_id: laser
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.00871450919658
time_increment: 0.000104473416286
scan_time: 0.0751163810492
range_min: 0.15000000596
range_max: 25.0
ranges: [inf, inf, 2.24399995803833, 2.24399995803833, inf, 2.240000009536743, 2.240000009536743, 2.0239999294281006, 2.2200000286102295, inf, 2.0959999561309814, 2.0959999561309814, 2.0999999046325684, 2.0999999046325684, 2.1040000915527344, 2.1080000400543213, 2.1040000915527344, 2.111999988555908, 2.111999988555908, 2.115999937057495, 2.115999937057495, 2.111999988555908, 2.111999988555908, 2.115999937057495, 2.115999937057495, 2.115999937057495, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.119999885559082, 2.119999885559082, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 4.703999996185303, 4.703999996185303, inf, 4.639999866485596, 4.639999866485596, 4.616000175476074, 4.639999866485596, 4.6479997634887695, 4.576000213623047, inf, inf, inf, inf, inf, inf, inf, 2.115999937057495, 2.115999937057495, 2.1040000915527344, inf, inf, 1.9739999771118164, 1.9739999771118164, inf, 1.968000054359436, 1.968000054359436, 1.9579999446868896, 1.934000015258789, 1.9279999732971191, 1.9479999542236328, 1.9479999542236328, 1.9620000123977661, 1.9839999675750732, 2.00600004196167, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 3.7639999389648438, 3.7639999389648438, 3.7039999961853027, 3.7039999961853027, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 5.208000183105469, 5.208000183105469, 5.296000003814697, 5.375999927520752, 4.28000020980835, 4.28000020980835, 4.263999938964844, 4.23199987411499, 4.216000080108643, 4.199999809265137, 4.191999912261963, 4.184000015258789, 4.176000118255615, 4.168000221252441, 4.199999809265137, 4.191999912261963, 4.127999782562256, 4.159999847412109, inf, 4.136000156402588, 4.136000156402588, 4.159999847412109, 4.159999847412109, 4.104000091552734, 4.119999885559082, 4.104000091552734, 4.047999858856201, 4.059999942779541, 4.052000045776367, 4.0320000648498535, 4.0279998779296875, 4.015999794006348, 4.007999897003174, 4.0079998970031

• [RaceBot] 启动rviz可视化界面

$ roslaunch racebot view_rplidar.launch