#ros2 #lidar #linux #raspberrypi #slam #perceptron #ros #controltheory #mechatronics #urdf #machinelearning #electricalengineering #automation #industrialrobotics #industrialrobots #Rviz
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In this tutorial, we explain how to install, run, and use a lidar on Raspberry Pi 5 and ROS2 Jazzy. We explain how to build a lidar package in ROS2 and how to visualize lidar measurements in Rviz visualization software.
Here is the experimental setup. It consists of Raspberry Pi 5 and a lidar. We are using a low-cost lidar produced by Slamtec. In particular, in this tutorial, we are using a Slamtec RPLIDAR A1M8. This lidar has an update frequency of 10 Hz and a measurement range of 12 meters. However, everything explained in this tutorial applied to any other lidar produced by Slamtec.
We are using Raspberry Pi 5 with 8 GB RAM and with an active cooler. To boost the performance of the Raspberry Pi, we installed an NVMe SSD with 500 GB. The main motivation for using NVMe SSDs, comes from the fact that compared to micro-SD cards, NVMe SSDs are at least 10 faster. This reflects itself in a smoother and faster operation of Raspberry Pi 5 and is of crucial importance in read and write tasks.
On the screen you can see Rviz visualization of the lidar measurements. Every point on the screen represents an object or a surface of an object detected by the lidar. The lidar gives a scan of all the objects that are detected in the horizonal plane of the lidar. The straight lines are the walls in my room, and this curved line is me. We can move the lidar to demonstrate that it actually works.