Mapper M2M2 Gazebo helpppppppp

[Parkyqqq]

Hello,
I'm interested in simulating Mapper M2M2 scanning situation on a drone within Gazebo,
but I'm unsure if these two can be used together in this way.
Has anyone had any experience with this?
Please help!!!

[deyouslamtec]

rplidar_sdk does not support Mapper

[Parkyqqq]

@deyouslamtec
Hello,
Have you used Mapper M2M2?
I'm aware that the rplidar_sdk doesn't support Mapper M2M2.
Currently, I'm directly modifying the sdf in Gazebo to simulate the Mapper M2M2 scenario.
I'd like to inquire if you have any better ideas, and if you know how to extract real scan data from Mapper M2M2?
If you're comfortable, you can also reply in Chinese.
Thank you very much!!!

[deyouslamtec]

现在还没有接口可以直接获取雷达扫描到的原始数据，现在获取到的雷达数据都是处理过的。

[Parkyqqq]

@deyouslamtec 那可以透过ROS获取那些处理过的雷达数据吗，或是可以更单纯不透过ROS直接取得，非常谢谢您!

[deyouslamtec]

我们的Mapper提供C++ DK和ROS SDK。参见：https://www.slamtec.com/cn/Support#rplidar-mapper。
如果使用ROS SDK，通过roslaunch slamware_ros_sdk slamware_ros_sdk_server_node.launch ip_address:=192.168.11.1 启动slamware_ros_sdk_server_node，此节点会发布Scan话题，订阅这个话题就可以获取到雷达数据。

如果使用C++ SDK，可以使用LaserScan类获取雷达数据。