目录

一、话题

二、服务

三、参数

四、启动文件、参数文件

一、话题

名称：Scan

类型：sensor_msgs/LaserScan

angle_min：可检测范围的起始角度
angle_max：可检测范围的终止角度，与angle_min组成激光雷达可检测范围
angle_increment：采集到相邻数据帧之间的角度步长
time_increment：采集到相邻数据帧之间的时间步长，当传感器处于相对运动状态时进行补偿使用
scan_time：采集一帧数据所需的时间
range_min：最近可检测深度的阀值
range_max：最远可检测深度的阀值
ranges：一帧深度数据的存储数组
描述：发布激光雷达数据

二、服务
名称：stop_motor

类型：std_srvs/Empty

描述：停止转动电机

名称：start_motor

类型：std_srvs/Empty

描述：开始转动电机

三、参数
serial_port：类型-string；默认值-“/dev/ttyUSB0”；激光雷达串口名字
serial_baudrate：类型-int；默认值-115200；串口波特率
frame_id：类型-string；默认值-“laser”；激光雷达坐标系
inverted：类型-bool；默认值-false；是否倒置安装
angle：类型-“bool”；默认值-true；角度补偿
四、启动文件、参数文件

<!--
  Used for visualising rplidar in action.  
  
  It requires rplidar.launch.
 -->
<launch>
  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
 
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
</launch>

我们找到rplidar.rviz文件打开：

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RPLidarLaserScan1
      Splitter Ratio: 0.5
    Tree Height: 413
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 0
        Min Value: 0
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: RPLidarLaserScan
      Position Transformer: XYZ
      Queue Size: 1000
      Selectable: true
      Size (Pixels): 5
      Size (m): 0.03
      Style: Squares
      Topic: /scan
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: laser
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 11.1184
      Focal Point:
        X: -0.0344972
        Y: 0.065886
        Z: 0.148092
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.615399
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 5.82358
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 626
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001950000022cfc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022c000000dd00fffffffb0000000a0049006d006100670065000000028d000000c60000000000000000000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003240000022c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1215
  X: 65
  Y: 24