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lidar drive and visualization

Hint

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

  • OriginBot Pro
  • PC：Ubuntu (≥22.04) + ROS2 (≥humble)

lidar driven

After successfully connecting to OriginBot through SSH, enter the following command in the terminal to start the robot chassis and radar driver:

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

You will soon be able to see real-time radar data img

Hint

Make sure that Ubuntu+ROS2 system has been installed on the PC, and the originbot_desktop code repository has been downloaded and compiled. In addition, you can also use "ros2 run rviz2 rviz2" to start Rivz2 separately, manually configure Fixed Frame to select base_link, add Laserscan, and subscribe to the radar topic to achieve a similar effect.

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