rplidar_cpp

This is a C++17 interface to the RPLidar series of laser triangulation sensors from RoboPeak that specifically does not depend on ROS.

Getting Started

Prerequisites

Install cmake and a C++17 compiler. On Ubuntu, you can install cmake via the following command.

sudo apt -y install cmake

Installing

A step by step series of examples that tell you how to get a development env running

Clone the repository.

git clone https://github.com/jsford/rplidar_cpp.git

Use cmake to build and install.

cd rplidar_cpp
mkdir build
cd build
cmake ..
make
sudo make install

Install the udev rule for the RPLidar.

cd rplidar_cpp/scripts
chmod +x create_udev_rules.sh delete_udev_rules.sh
sudo ./create_udev_rules.sh

Running the Demo

After building the code, you can run the demo by plugging in an RPLidar and running the rpdemo executable as follows:

cd rplidar_cpp/build/demo
./rpdemo

The demo will start the RPLidar and print scan data for 10 seconds.

Usage

Place the following in your project's CMakeLists.txt:

cmake_minimum_required(VERSION 3.0)
project(YOUR_PROJECT_NAME)

find_package(RPLidar)

add_executable(${CMAKE_PROJECT_NAME} ...)
target_link_libraries(${CMAKE_PROJECT_NAME} RPLidar::RPLidar)

In your code, include the RPLidar library as follows:

#include <RPLidar/rplidar.h>

See demo.cpp for an example usage. Check out RPLidar/rplidar.h to view the complete interface.

Built With

• CMake

Authors

• Jordan Ford - jrdnfrd.com

License

This project is licensed under the MIT License - see the LICENSE.md file for details

Acknowledgments

• This code makes use of the RPLidar SDK provided by RoboPeak.