j1and1 / ros2_mb_1r2t_driver

WIP ROS2 MB_1R2T_driver

ROS 2 driver implementation for MB_1R2T lidar

This is a C++ implementation of MB_1R2T driver for ROS 2.

How to use?

To use this driver run ros2 launch mb_1r2t_lidar_driver lidar_view.launch.py to launch driver with rviz2 or ros2 launch mb_1r2t_lidar_driver lidar_scan.launch.py. This driver has following parameters:

• device - serial port on which the MB_1R2T lidar is located. Default /dev/ttyUSB0
• baud_rate - specifies serial port baud rate. Default 153600
• frame_id - specifies the frame id under which the publisher will send messages. Default laser

Devcontainer

To run the devcontainer in VSCode you need to attach lidar to the USB port and specify serial in .devcontainer/devcontainer.json if you would also like to run rviz2 in the container or other GUI apps you need to run xhost + from terminal on your host system. Debugging and build tasks are configured in VSCode. NOTE: after initial build you might want to source the environment