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rplidar

This repo integrates slamtec rplidar LIDARS within Viam's RDK.

It has been tested on the following rplidars:

Getting started

  1. Install the rplidar module:
    • OSx: 
      brew tap viamrobotics/brews && brew install rplidar-module
    • Linux AArch64 (ARM64) (e.g., on an RPI): 
      sudo curl -o /usr/local/bin/rplidar-module http://packages.viam.com/apps/rplidar/rplidar-module-latest-aarch64.AppImage
sudo chmod a+rx /usr/local/bin/rplidar-module
    • Linux x86_64: 
      sudo curl -o /usr/local/bin/rplidar-module http://packages.viam.com/apps/rplidar/rplidar-module-latest-x86_64.AppImage
sudo chmod a+rx /usr/local/bin/rplidar-module
  2. Run the RDK web server using one of the example config files modules/sample_osx.json or modules/sample_linux.json, depending on your operating system.

Development

Run make install-swig.

Run rplidar as a modular component

  1. Build the module: make build-module
  2. Run the RDK web server using one of the example config files modules/sample_osx.json or modules/sample_linux.json, depending on your operating system.

Linting

make lint

(Optional) Using Canon Images

If desired, Viam's canon tool can be used to create a docker container to build arm64 or amd64 binaries of the SLAM server. The canon tool can be installed by running the following command:

go install github.com/viamrobotics/canon@latest

And then by running one of the following commands in the rplidar repository to create the container:

canon -arch arm64
canon -arch amd64

These containers are set to persist between sessions via the persistent parameter in the .canon.yaml file located in the root of rplidar. More details regarding the use of Viam's canon tool can be found here.