Overview

Purpose

The lidar service uses the SLAMTEC RPLIDAR A2M8 sensor to capture and process 2D laser scan data.

info

This service requires an extra sensor that does not come preinstalled with every Rover. See the requirements section.

Installation

To install this service, the latest release of roverctl should be installed for your system and your Rover should be powered on.

Using roverctl

1. Clone this repository to your machine

git clone https://github.com/VU-ASE/lidar.git

2. Enter the newly created lidar directory

cd lidar

3. Upload the lidar service to your Rover. Do not forget the trailing .!

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl upload -r <ROVER_NUMBER> .

Using roverctl-web

This service is not released automatically so it cannot be installed through roverctl-web.

Follow this tutorial to understand how to use an ASE service. You can find more useful roverctl commands here

Requirements

• A SLAMTEC RPLIDAR A2M8 needs to be connected over USB for this service to work

Inputs

As defined in the service.yaml, this service does not depend on any other service.

Outputs

As defined in the service.yaml, this service exposes the following write streams:

• lidar-data:
  • To this stream, LidarSensorOutput messages will be written. Each message will be wrapped in a SensorOutput wrapper message