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참고사이트

rplidar - ROS Wiki 

다운로드

wget https://www.leelab.co.kr/down/ros/rplidar_ros.tar.gz

다운받아 catkin_ws/src 폴더 밑에 압축을 푼다.

컴파일하기

jklee@curtsying:~$ cd catkin_ws/

jklee@curtsying:~/catkin_ws$ catkin_make

Base path: /home/jklee/catkin_ws

Source space: /home/jklee/catkin_ws/src

Build space: /home/jklee/catkin_ws/build

Devel space: /home/jklee/catkin_ws/devel

Install space: /home/jklee/catkin_ws/install

####

#### Running command: "cmake /home/jklee/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/jklee/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/jklee/catkin_ws/install -G Unix Makefiles" in "/home/jklee/catkin_ws/build"

####

-- Using CATKIN_DEVEL_PREFIX: /home/jklee/catkin_ws/devel

-- Using CMAKE_PREFIX_PATH: /home/jklee/catkin_ws/devel;/opt/ros/melodic

-- This workspace overlays: /home/jklee/catkin_ws/devel;/opt/ros/melodic

-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 

-- Using PYTHON_EXECUTABLE: /usr/bin/python2

-- Using Debian Python package layout

-- Using empy: /usr/bin/empy

-- Using CATKIN_ENABLE_TESTING: ON

-- Call enable_testing()

-- Using CATKIN_TEST_RESULTS_DIR: /home/jklee/catkin_ws/build/test_results

-- Found gtest sources under '/usr/src/googletest': gtests will be built

-- Found gmock sources under '/usr/src/googletest': gmock will be built

-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 

-- Using Python nosetests: /usr/bin/nosetests-2.7

-- catkin 0.7.28

-- BUILD_SHARED_LIBS is on

-- BUILD_SHARED_LIBS is on

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

-- ~~  traversing 5 packages in topological order:

-- ~~  - actions_tutorial

-- ~~  - camera_actions

-- ~~  - motor_service

-- ~~  - service_tutorial

-- ~~  - rplidar_ros

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

-- +++ processing catkin package: 'actions_tutorial'

-- ==> add_subdirectory(actions_tutorial)

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy

-- Generating .msg files for action actions_tutorial/WashTheDishes /home/jklee/catkin_ws/src/actions_tutorial/action/WashTheDishes.action

-- actions_tutorial: 7 messages, 0 services

-- +++ processing catkin package: 'camera_actions'

-- ==> add_subdirectory(camera_actions)

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy

-- Generating .msg files for action camera_actions/robot /home/jklee/catkin_ws/src/camera_actions/action/robot.action

-- camera_actions: 7 messages, 0 services

-- +++ processing catkin package: 'motor_service'

-- ==> add_subdirectory(motor_service)

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy

-- motor_service: 0 messages, 1 services

-- +++ processing catkin package: 'service_tutorial'

-- ==> add_subdirectory(service_tutorial)

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy

-- service_tutorial: 0 messages, 1 services

-- +++ processing catkin package: 'rplidar_ros'

-- ==> add_subdirectory(rplidar_ros)

-- Configuring done

-- Generating done

-- Build files have been written to: /home/jklee/catkin_ws/build

####

#### Running command: "make -j4 -l4" in "/home/jklee/catkin_ws/build"

####

[  0%] Built target actionlib_msgs_generate_messages_eus

[  0%] Built target _actions_tutorial_generate_messages_check_deps_WashTheDishesActionFeedback

[  0%] Built target _actions_tutorial_generate_messages_check_deps_WashTheDishesResult

[  0%] Built target _actions_tutorial_generate_messages_check_deps_WashTheDishesGoal

[  0%] Built target _actions_tutorial_generate_messages_check_deps_WashTheDishesAction

[  0%] Built target _actions_tutorial_generate_messages_check_deps_WashTheDishesActionGoal

[  0%] Built target std_msgs_generate_messages_eus

[  0%] Built target _actions_tutorial_generate_messages_check_deps_WashTheDishesActionResult

[  0%] Built target _actions_tutorial_generate_messages_check_deps_WashTheDishesFeedback

[  0%] Built target actionlib_msgs_generate_messages_py

[  0%] Built target std_msgs_generate_messages_py

[  0%] Built target std_msgs_generate_messages_nodejs

[  0%] Built target std_msgs_generate_messages_lisp

[  0%] Built target actionlib_msgs_generate_messages_nodejs

[  0%] Built target actionlib_msgs_generate_messages_lisp

[  0%] Built target actionlib_msgs_generate_messages_cpp

[  0%] Built target std_msgs_generate_messages_cpp

[  0%] Built target _camera_actions_generate_messages_check_deps_robotResult

[  0%] Built target _camera_actions_generate_messages_check_deps_robotAction

[  0%] Built target _camera_actions_generate_messages_check_deps_robotActionResult

[  0%] Built target _camera_actions_generate_messages_check_deps_robotActionFeedback

[  0%] Built target _camera_actions_generate_messages_check_deps_robotFeedback

[  0%] Built target _camera_actions_generate_messages_check_deps_robotGoal

[  0%] Built target _camera_actions_generate_messages_check_deps_robotActionGoal

Scanning dependencies of target rplidarNode

Scanning dependencies of target rplidarNodeClient

[  0%] Built target _motor_service_generate_messages_check_deps_motor

[  1%] Building CXX object rplidar_ros/CMakeFiles/rplidarNode.dir/src/node.cpp.o

[  2%] Building CXX object rplidar_ros/CMakeFiles/rplidarNodeClient.dir/src/client.cpp.o

[ 11%] Built target actions_tutorial_generate_messages_eus

[ 11%] Built target _service_tutorial_generate_messages_check_deps_AddInts

[ 12%] Building CXX object rplidar_ros/CMakeFiles/rplidarNode.dir/sdk/src/arch/linux/net_serial.cpp.o

[ 13%] Building CXX object rplidar_ros/CMakeFiles/rplidarNode.dir/sdk/src/arch/linux/timer.cpp.o

[ 14%] Building CXX object rplidar_ros/CMakeFiles/rplidarNode.dir/sdk/src/hal/thread.cpp.o

[ 22%] Built target actions_tutorial_generate_messages_py

[ 30%] Built target actions_tutorial_generate_messages_nodejs

[ 36%] Built target actions_tutorial_generate_messages_lisp

[ 37%] Building CXX object rplidar_ros/CMakeFiles/rplidarNode.dir/sdk/src/rplidar_driver.cpp.o

[ 44%] Built target actions_tutorial_generate_messages_cpp

[ 52%] Built target camera_actions_generate_messages_lisp

[ 60%] Built target camera_actions_generate_messages_eus

[ 66%] Built target camera_actions_generate_messages_nodejs

[ 74%] Built target camera_actions_generate_messages_cpp

[ 83%] Built target camera_actions_generate_messages_py

/home/jklee/catkin_ws/src/rplidar_ros/src/node.cpp:202:12: warning: invalid suffix on literal; C++11 requires a space between literal and string macro [-Wliteral-suffix]

            "SDK Version: "RPLIDAR_SDK_VERSION"\n");

            ^

[ 84%] Built target motor_service_generate_messages_py

[ 86%] Built target motor_service_generate_messages_eus

[ 87%] Built target motor_service_generate_messages_lisp

[ 88%] Built target motor_service_generate_messages_cpp

[ 90%] Built target motor_service_generate_messages_nodejs

[ 91%] Built target service_tutorial_generate_messages_lisp

[ 93%] Built target service_tutorial_generate_messages_eus

[ 94%] Built target service_tutorial_generate_messages_cpp

[ 95%] Built target service_tutorial_generate_messages_nodejs

[ 97%] Built target service_tutorial_generate_messages_py

[ 97%] Built target actions_tutorial_generate_messages

[ 97%] Built target camera_actions_generate_messages

[ 97%] Built target motor_service_generate_messages

[ 97%] Built target service_tutorial_generate_messages

[ 98%] Linking CXX executable /home/jklee/catkin_ws/devel/lib/rplidar_ros/rplidarNodeClient

[100%] Linking CXX executable /home/jklee/catkin_ws/devel/lib/rplidar_ros/rplidarNode

[100%] Built target rplidarNodeClient

[100%] Built target rplidarNode

jklee@curtsying:~/catkin_ws$