RPLidar

The RPLidar A1/A2/S1 is a 2D laser scanner commonly used for SLAM and obstacle detection.

Wiring

RPLidar Pin	Raspberry Pi
VCC (5V)	Pin 2 (5V)
GND	Pin 6 (GND)
TX	Pin 10 (RX)
RX	Pin 8 (TX)

Or use the USB adapter that comes with the kit.

ROS 2 Driver

sudo apt install ros-humble-rplidar-ros
ros2 launch rplidar_ros rplidar_a1_launch.py

Verify Topic

ros2 topic echo /scan

RVIZ Visualisation

Set Fixed Frame to laser and add a LaserScan display on topic /scan.

TIP

Set serial_port: /dev/ttyUSB0 in the launch file. Run ls /dev/tty* before and after plugging in to find the correct port.