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.
Snap can be installed from the command line on openSUSE Leap 15.x and Tumbleweed.
You need first add the snappy repository from the terminal. Leap 15.5 users, for example, can do this with the following command:
sudo zypper addrepo --refresh https://download.opensuse.org/repositories/system:/snappy/openSUSE_Leap_15.5 snappy
Swap out openSUSE_Leap_15.5 for openSUSE_Leap_15.4 or openSUSE_Tumbleweed if you’re using a different version of openSUSE.
With the repository added, import its GPG key:
sudo zypper --gpg-auto-import-keys refresh
Finally, upgrade the package cache to include the new snappy repository:
sudo zypper dup --from snappy
Snap can now be installed with the following:
sudo zypper install snapd
You then need to either reboot, logout/login or source /etc/profile to have /snap/bin added to PATH.
Additionally, enable and start both the snapd and the snapd.apparmor services with the following commands:
sudo systemctl enable --now snapd
sudo systemctl enable --now snapd.apparmor
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.