If you are using ROS (Robot Operating System), please use our open-source ROS node directly. This is the public SDK of RPLIDAR products in C++, and open-sourced under GPLv3 license. Slamtec RPLIDAR( ) series is a set of high-performance and low-cost LIDAR( ) sensors, which is the perfect sensor of 2D SLAM, 3D reconstruction, multi-touch, and safety applications. Slamtec RPLIDAR Public SDK for C++ Introduction You have already set up your NVIDIA Jetson Nano (4GB, B01) with ROS.Mapping of Underground Mines, Caves, and Hard-to-Reach Environments.This project has a number of real-world applications: Build a Map Using the Hector-SLAM ROS Package. In addition to the parts listed in the article I linked to in the Prerequisites, you will need the following components (#ad).

INIU Power Bank, LED Display 10000mAh Portable Charger.Slamtec RPLIDAR A1M8 360 Degree 2D Laser Range Lidar Sensor 12 Meters Scanning Radius.Acrylic Case for Jetson Nano B01 With a Dedicated Cooling Fan (Optional).Once you finish this project, you can mount your Jetson Nano and LIDAR on anything that moves (drone, robot car, etc.) so you can map an environment.ĭisclosure (#ad): As an Amazon Associate I earn from qualifying purchases. The portable power bank that I purchased can be used to power your Jetson Nano. Having a portable power bank enables you to move the Jetson Nano and LIDAR around a room freely so you can build a map.įirst, take the jumper off of pin J48 so your Jetson Nano knows we are going to plug in the portable battery into the 5V/2A USB Micro B connection (J28) rather than the 5V/4A barrel power jack (J25). Type this command in the current terminal (we won’t need to do this again since we’ve added this command to our bash file). I saw an error that says “C++11 requires space between literal and string macro.” source ~/catkin_ws/devel/setup.bashĬlone the RPLIDAR ROS package to your src folder. The error is occurring in the node.cpp file.

cd ~/catkin_ws/src/rplidar_ros/src sudo chmod +x node.cpp sudo gedit node.cppĬhange this: ROS_INFO('RPLIDAR running on ROS package rplidar_ros. Open a new terminal window, and type: rostopic list To this: ROS_INFO('RPLIDAR running on ROS package rplidar_ros. If you see output like this, it means everything is working correctly. Press CTRL + C in all terminal windows to close everything down. Build a Map Using the Hector-SLAM ROS Package In this section, we will build a map of our environment using the ROS Hector-SLAM package. Hector-SLAM is an algorithm that uses laser scan data to create a map.

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