The husarion-rplidar snap contains all the necessary software to bring the RPLIDAR LIDARS up.
Parameters
The snap provides the following configurable parameters (param name: default value):
configuratin: customdriver: {...}ros: {...}The ros contains the following keys:
ros.domain-id: 0 - Sets the ROS_DOMAIN_ID environment variable for the ROS driver.ros.localhost-only: 0 - Sets the ROS_LOCALHOST_ONLY environment variable for the ROS driver.ros.transport: udp - Configures DDS transport. Options are udp, shm, builtin (or rmw_fastrtps_cpp), rmw_cyclonedds_cpp. Corresponding DDS XML files can be found in the /var/snap/rosbot-xl/common directory (custom FastDDS setups can also be created here).ros.namespace: (unset) - Namespace for all topics and transforms.The driver contains the following keys:
channel-type: serialserial-port: autoserial-baudrate: 256000frame-id: laserinverted: falseangle-compensate: truescan-mode: (unset)device-namespace: (unset)To set the parameters, use the snap set command, e.g.,
snap set husarion-rplidar driver.device-namespace=front_lidar
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
If you’re running Ubuntu 16.04 LTS (Xenial Xerus) or later, including Ubuntu 18.04 LTS (Bionic Beaver) and Ubuntu 20.04 LTS (Focal Fossa), you don’t need to do anything. Snap is already installed and ready to go.
For versions of Ubuntu between 14.04 LTS (Trusty Tahr) and 15.10 (Wily Werewolf), as well as Ubuntu flavours that don’t include snap by default, snap can be installed from the Ubuntu Software Centre by searching for snapd.
Alternatively, snapd can be installed from the command line:
sudo apt update
sudo apt install snapd
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install husarion-rplidar, simply use the following command:
sudo snap install husarion-rplidar
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.
