Hands-On ROS for Robotics Programming

Running the YDLIDAR ROS package

Now, we are going to launch the laser scan node and visualize the results with a console client, before doing the same with RViz.

Follow these steps to do so:

1. Launch the YDLIDAR node with the following command:

T1 $ roslaunch ydlidar lidar.launch

For this part of this chapter, you should temporarily point the ROS master to the laptop, not the robot. Remember that you can do this for single Terminals by specifying $ export ROS_MASTER_URI=http://localhost:11311 in each. Once you close any of these, the temporal definition will be thrown away.

2. From another Terminal, list the scan data using a client node:

T2 $ rosrun ydlidar ydlidar_client

You should see the YDLIDAR node's scan result in the console, as well ...