Enable the Lidar Node

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JetBot ROS AI Kit Basic Tutorial

Step 1: Enable the Lidar Node

  • Firstly, you need to power on the lidar and make it rotate.
  • Run the following commands to enable the lidar node on the robot.
roslaunch jetbot_pro lidar.launch

Enable the Lidar Node01.png

  • If the node can not be enabled, please press the RESET key on the expansion board, and reboot it.
  • If you want to run Is/dev, please check whether the expansion board is connected to Jetson Nano,and whether or not the ttyACM0 and ttyACM11 device is found. [ttyACM0 is for micro-controller communicationn, and ttyACM1 is for lidar communication.]
 ls /dev    

Enable the Lidar Node02.png

Step 2: Check the data and add the component

  • View radar data through the RVIZ tool in a virtual machine. Please enter the following command to open the RVIZ graphical tool interface.
rosrun rviz rviz

Enable the Lidar Node03.png

  • Click "Add" to add the LaserScan component, select the /scan topic for the Topic, and select Laser_frame for the Fixed Frame to see the radar data. The red points in the image are the points scanned by the radar.

Enable the Lidar Node04.png