From 864540247bcb8afd00404502fbed85341e066294 Mon Sep 17 00:00:00 2001 From: fszkudlarek Date: Thu, 3 Sep 2026 15:20:06 +0200 Subject: [PATCH 1/3] Fix transformation in URDF --- docs/integrations/lidars/slamtec-rplidar-a2.mdx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/integrations/lidars/slamtec-rplidar-a2.mdx b/docs/integrations/lidars/slamtec-rplidar-a2.mdx index bada35d0..421a0c96 100644 --- a/docs/integrations/lidars/slamtec-rplidar-a2.mdx +++ b/docs/integrations/lidars/slamtec-rplidar-a2.mdx @@ -270,7 +270,7 @@ occupies. You can ensure it does that by creating an URDF model of the sensor. - + From db32943bcc85088dee865d8406f61e609b0e613e Mon Sep 17 00:00:00 2001 From: fszkudlarek Date: Fri, 4 Sep 2026 10:11:29 +0200 Subject: [PATCH 2/3] Clarify parts with modifying/creating files --- .../lidars/slamtec-rplidar-a2.mdx | 34 ++++++++++--------- 1 file changed, 18 insertions(+), 16 deletions(-) diff --git a/docs/integrations/lidars/slamtec-rplidar-a2.mdx b/docs/integrations/lidars/slamtec-rplidar-a2.mdx index 421a0c96..50175bd6 100644 --- a/docs/integrations/lidars/slamtec-rplidar-a2.mdx +++ b/docs/integrations/lidars/slamtec-rplidar-a2.mdx @@ -155,15 +155,15 @@ you are ready to try out your new sensor. ## Software integration The first thing you can do is to make sure your device has the correct -permissions and is available at the fixed path on your system. To do this, you -can add the following rule to the udev service: +permissions and is available at the fixed path on your system. Do this by +creating a file named `lidar.rules` in `/etc/udev/rules.d` and pasting the +following content into it: ```xml title="/etc/udev/rules.d/lidar.rules" KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="0666", GROUP="dialout", SYMLINK+="lidar" ``` -Paste these lines to `/etc/udev/rules.d/lidar.rules` file and reload udev rules -by typing: +Then, reload udev rules by typing: ```bash sudo udevadm control --reload-rules && sudo udevadm trigger @@ -179,8 +179,9 @@ to integrate. sudo apt install ros-${ROS_DISTRO}-rplidar-ros ``` -Now, create a launch file that would start the node with a fitting -configuration. Configuration varies depending on the RPLidar version. +Now, in `/etc/ros` create a `laser.launch.xml` file that will start the node +with a fitting configuration. Configuration varies depending on the RPLidar +version. @@ -210,19 +211,18 @@ configuration. Configuration varies depending on the RPLidar version. -Include your launch file in the `robot.launch.xml` file, so that your node will -start at boot. +For the node to start at boot, your launch file has to be included in the +robot's main launch file. Insert the following line between its `` tags: -In `/etc/ros/robot.launch.xml`: - -```xml - +```xml title="/etc/ros/robot.launch.xml" + ``` ### Modifying the URDF model Your robot should be aware of where the sensor is located and what space it -occupies. You can ensure it does that by creating an URDF model of the sensor. +occupies. You can ensure that by creating an URDF model of the sensor. To do so, +in `/etc/ros/urdf` create a `laser.urdf` file with the following content: ```xml title="/etc/ros/urdf/laser.urdf" @@ -278,10 +278,12 @@ occupies. You can ensure it does that by creating an URDF model of the sensor. ``` -And including it in the description that is uploaded at boot. +Then, include it in the description that is uploaded at boot. In +`/etc/ros/urdf/robot.urdf.xacro` insert the following line between the `` +tags: ```xml title="/etc/ros/urdf/robot.urdf.xacro" - + ``` :::tip @@ -292,7 +294,7 @@ STL or COLLADA format. ::: -The last step is to either reboot the robot or restart the nodes. +The last step is to either reboot the robot or restart the nodes by typing: ```bash ros-nodes-restart From 1cf38ad52b6089c9a18db31cea1310f107b208f3 Mon Sep 17 00:00:00 2001 From: fszkudlarek Date: Fri, 4 Sep 2026 10:15:02 +0200 Subject: [PATCH 3/3] Remove keywords --- docs/integrations/lidars/slamtec-rplidar-a2.mdx | 8 -------- 1 file changed, 8 deletions(-) diff --git a/docs/integrations/lidars/slamtec-rplidar-a2.mdx b/docs/integrations/lidars/slamtec-rplidar-a2.mdx index 50175bd6..97d29837 100644 --- a/docs/integrations/lidars/slamtec-rplidar-a2.mdx +++ b/docs/integrations/lidars/slamtec-rplidar-a2.mdx @@ -1,14 +1,6 @@ --- title: SLAMTEC RPLIDAR A2 Integration Guide for ROS Robots sidebar_label: SLAMTEC RPLIDAR A2 -keywords: - - slamtec - - rplidar - - lidar - - 2d - - leo - - integration - - example description: >- Learn how to connect an RPLiDAR A2M8/A2M12 sensor to your Leo Rover for 2D mapping and more. Detailed tutorial mechanical and software integration.