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lidar drive and visualization

Hint

The operating environment and software and hardware configurations are as follows:

  • OriginBot Robot（Navigation Version）
  • PC：Ubuntu (≥20.04) + ROS2 (≥Foxy)

lidar driven

After SSH is connected to OriginBot, enter the following commands in the terminal to start the robot chassis and lidar drive:

$ ros2 launch originbot_bringup originbot.launch.py use_lidar:=true

image-20220822150642309

Data visualization

On the PC side in the same network, start the visual display software of the upper computer:

$ ros2 launch originbot_viz display_lidar.launch.py

Real-time data from the lidar will soon be available. img

Hint

Make sure that the Ubuntu+ROS2 system has been installed on the PC, and the download and compilation of the originbot_desktop code repository have been completed. In addition, you can use "ros2 run rviz2 rviz2" to start Rivz2 individually, manually configure the Fixed Frame selection base_link, add Laserscan, and subscribe to lidar topics, which can achieve a similar effect.

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