NMS Lidar driver for Slamtec RPLidar A1
How to add the Rplidar (A1) robot skill
- Load the most recent release of ARC (Get ARC).
- Press the Project tab from the top menu bar in ARC.
- Press Add Robot Skill from the button ribbon bar in ARC.
- Choose the Navigation category tab.
- Press the Rplidar (A1) icon to add the robot skill to your project.
Don't have a robot yet?
Follow the Getting Started Guide to build a robot and use the Rplidar (A1) robot skill.
How to use the Rplidar (A1) robot skillNMS Lidar driver for Slamtec RPLidar A1. This pushes scan data to the ARC NMS (Navigation Messaging System) as a level #3 Group #1 sensor. This robot skill connects to the Lidar and pushes the data into ARC's NMS (navigation messaging system) to be used with level 1 navigation viewers. Read the NMS manual page to understand how this skill can be used.
That might sound more confusing than it needs to be. But, all that means is this sensor will detect the distances of objects using a laser in a 360-degree circle around the robot. It takes that data and pushes it to another robot skill that can display the data and use the information for navigation. The NMS manual explains more about how to set it up. Some videos also demonstrate how to set it up with similar hardware.
The baud rate for the communication. By default, the included controller from the manufacturer is 115200
2) Offset Degrees
Correct the angle that the lidar is mounted
3) Advanced communication parsing
Include debug information in the log window. This is only recommended if asked by Synthiam to help debug a communication issue. Otherwise, this will use a lot of resources.
4) Set variables with location data
If you're not using the NMS, check this, and global variables will be created for the scan data.
5) Fake NMS Pose hint event
The Better Navigator can use the Hector SLAM pose hint, which will not require a pose sensor. If you have The Better Navigator configured to use Hector as the pose hint, you can enable this option. This will send a "fake" pose hint of 0,0 to the NMS so that the pose event will run after every lidar scan.
NMS (Navigation Messaging System) Stack
This skill operates in Level #3 Group #1. It publishes obstacle detection to the NMS. While some SLAM systems will attempt to determine the cartesian position of the robot without telemetry, it is best to combine this skill with a Group #2 sensor.
How to Use
Program the LIDAR in Blockly
Like all Synthiam controls, the Blockly programming language can be used. In the example below, the robot will speak when an object has come close to it. It will also speak the degrees of where the object was. To see a similar lidar program in action, click HERE.
Cheat Sheet Shortcuts
There are several ControlCommand() commands for this robot skill. For a complete list, view the Cheat Sheet of this control. The commands will start and stop.
In the configuration menu of this control, you can view the variables that this skill creates. The variables hold the most recent values of minimum/maximum distance, degrees, and running status of the lidar.