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By Kevin McAleer, 3 Minutes
RViz has 3 main panel by default, and you can add additonal panels to suit your needs (its very flexible).
In the screenshot above you can see the main areas of the screen:
RPLidar Laser scanner The SlamTec RPLidar A1 is an affordable laser scanner, ideal for use with robotics, and costs less than £99. We will use this in our tutorial.
The SlamTec RPLidar A1 is an affordable laser scanner, ideal for use with robotics, and costs less than £99. We will use this in our tutorial.
To view our LiDAR data in Rviz2 we need to do a couple of actions:
laser_scan
World
rviz2
git clone https://github.com/babakhani/rplidar_ros2
The rplidar_ros2 folder needs to be inside the cubie-1 folder, so make sure this is in the correct place by draging this into the Cubie-1 folder
rplidar_ros2
colcon build source install/setup.bash
We can now start the Laser scanner node.
docker exec -it docker-full_ros2_1 bash
cd ros2/rplidar_ros2 source install/setup.bash ros2 run rplidar_ros rplidar_composition
The RPLidar will momentarily stop and then restart, and you will see some output on the terminal showing that the LiDAR is now up and running
We can check that the /scan topic exists by using the ros2 topic list command. Lets open a new terminal and check we can see it.
/scan
ros2 topic list
There should be three topics listed:
/parameter_events /rosout /scan
If the /scan topic is visible, this means the LiDAR is successfully sending data to the Ros topic named /scan.
Lets start RViz2.
We will configure RViz in the next section.
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