--- title: LIDAR tags: software --- ## Configuring environment ### 1. Source the setup files ```bash source /opt/ros/foxy/setup.bash ``` ### 2.Add sourcing to your shell startup script ```bash echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc ``` ### 3. Check environment variables ```bash printenv | grep -i ROS ``` ``` ROS_VERSION=2 ROS_PYTHON_VERSION=3 ROS_DISTRO=foxy ``` ## Creating a workspace ### 1. Source ROS 2 environment ```bash source /opt/ros/foxy/setup.bash ``` ### 2. Create a new directory ```bash mkdir -p ~/ros2_ws/src cd ~/ros2_ws/src ``` ### 3. Clone a sample repo ```bash git clone https://github.com/Slamtec/sllidar_ros2.git ``` ### 4. Build sllidar_ros2 package ```bash colcon build --symlink-install ``` ### 5. Package environment setup ```bash source ./install/setup.bash ``` ### 6. Run sllidar node and view in the rviz ```bash ros2 launch sllidar_ros2 view_sllidar_s1_launch.py ``` ## debug ### Check the authority of rplidar's serial-port ```bash ls -l /dev |grep ttyUSB ``` ### Add the authority of write: (such as /dev/ttyUSB0) ```bash sudo chmod 666 /dev/ttyUSB0 ``` ### Check serial-port details ```bash ls /sys/class/tty/ttyUSB* -l ``` ``` lrwxrwxrwx 1 root root 0 四 17 17:09 /sys/class/tty/ttyUSB1 -> ../../devices/pci0000:00/0000:00:14.0/usb3/3-5/3-5:1.0/ttyUSB1/tty/ttyUSB1 ``` ### setting number :::warning #ACTION=="add",KERNELS=="1-2:1.0",SUBSYSTEMS=="usb",MODE:="0777",SYMLINK+="name" ::: ```bash sudo vi /etc/udev/rules.d/10-local.rules ``` ``` ACTION=="add",KERNELS=="3-5:1.0",SUBSYSTEMS=="usb",MODE:="0777",SYMLINK+="ttyUSB0" ``` ![](https://i.imgur.com/zstkv7Z.png)