Manual

Sensors
RPLIDAR A1M8
Connecting
The RPLIDAR connects to the TurtleBot 4 with a micro USB to USB-A cable. The sensor does
not require high data throughput, so using a USB 2.0 port is sufficient.
Once connected, the RPLIDAR should register on the Raspberry PI as a USB device. If the
udev rules are installed, the RPLIDAR will appear as /dev/RPLIDAR. Otherwise it will be
/dev/ttyUSB0.
To check that the USB device exists, use the command
ls /dev/RPLIDAR
If the device exists, the terminal will echo /dev/RPLIDAR.
Installing
The RPLIDAR drivers are installed by default on all TurtleBot 4's. To manually install, run:
sudo apt install ros-galactic-rplidar-ros
Running
ros2 launch turtlebot4_bringup rplidar.launch.py
The laserscan will be published to the /scan topic by default.