$ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_init_workspace
$ cd ~/catkin_ws/src $ git clone https://github.com/robopeak/rplidar_ros.git $ cd .. $ catkin_make $ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc $ source ~/.bashrc
$ ls -l /dev |grep ttyUSB
crw-rw---- 1 root dialout 188, 0 1月 19 18:00 ttyUSB0
<param name="serial_port" type="string" value="/dev/ttyUSB0"/> <param name="serial_baudrate" type="int" value="256000"/><!--A1/A2 -->
$ roslaunch rplidar_ros view_rplidar.launch