# RpLidar

## Easy mapping using rviz

Step1: Clone rplidar

:::info
git clone https://github.com/Slamtec/rplidar_ros.git
:::
:warning: clone rplidar ros into src
Step2: compile
:::info
catkin_make
:::
:warning: 別忘記source ~/workspace/install/setup.bash
Step3: Connect lidar
:::info
ls /dev/ttyUSB*
sudo chmod 777 /dev/ttyUSB0
:::
Step4: To workspace and roslaunch
Launch
:::info
roslaunch rplidar_ros test_rplidar.launch
roslaunch rplidar_ros view_rplidar.launch
:::
:warning: Remember to source ~/<workspace name>/devel/setup.bash

ps. If it is first time to use rpilidar for mapping, it may highly possible that user would meet a lot of error of without download something. Just only need to find sudo-apt-get install .....

## Multiple Lidar
https://medium.com/@amritgupta1999/merging-data-from-multiple-lidar-s-in-ros-e890fb60cbbf
https://answers.ros.org/question/320377/using-multiple-rplidar-on-a-single-system/
## Interesting paper for two 2D Rplidar to build 3D map
https://www.researchgate.net/publication/357363038_A_Rover_Team_based_3D_Map_Building_using_Low_Cost_2D_Laser_Scanners