ros-rplidar-mapping

A script that does everything instead of you to install the things for rplidar mapping

Before you install the mapping softwares you have to install Ubuntu 20.04 on your RaspberryPi

Ubuntu Install:

• Download the RaspberryPi Imager (or install with your package manager on linux): https://www.raspberrypi.com/software/
• Select your RaspberryPi Device with the 'Choose Device' button
• Click on 'Choose OS' -> Scroll down to 'Other general-purpose OS' -> Select Ubuntu -> Scroll down and select Ubuntu Server 20.04.5 LTS (64 or 32 bit depending on your RaspberryPi)
• Select your SD card with the 'Choose Storage' button and write the image
• After the writing is done, put the SD card into your RaspberryPi
• After you boot into the system (username: ubuntu, password: ubuntu) you will need to change the password
• After the password is changed type in: sudo apt install ubuntu-desktop
• After the installation is done just reboot the device sudo shutdown -r now

After installing linux

• Clone this repo git clone https://github.com/Rajmi105/ros-rplidar-mapping.git
• Copy the rosinstall.sh file into your home folder cp ros-rplidar-mapping/rosinstaller.sh $HOME
• Run the installer bash rosinstaller.sh
• The installer will help you install everything needed for the scan

After installing ROS

Depending on what lidar sensor you have:

• Before starting the scanner: sudo chmod 666 /dev/ttyUSB*
• (A1/A2)
• roslaunch rplidar_ros rplidar.launch
• (A3)
• roslaunch rplidar_ros rplidar_a3.launch

After starting rplidar scanner

Open a new terminal and type:

• source catkin_ws/devel/setup.bash
• roslaunch hector_slam_launch tutorial.launch

If you rebooted your raspberry after the installation script:

• (A1/A2)
• roslaunch rplidar_ros rplidar.launch
• (A3)
• roslaunch rplidar_ros rplidar_a3.launch
• Open a new terminal session
• source catkin_ws/devel/setup.bash
• roslaunch hector_slam_launch tutorial.launch