Lidar Controller - The-Bug-Bashers/iBOARCode GitHub Wiki
Overview
The Lidar Controller (C++) controls the LiDAR sensor — an SLAMTEC RPLIDAR A1M8.
It scans, parses, and publishes environment data to the MQTT broker using the RPLIDAR SDK.
Features
- Accepts commands to start/stop scanning.
- Publishes new LiDAR data frequently on a dedicated MQTT topic.
Commands
| Action | Command |
|---|---|
| Compile | make build_app |
| Run | sudo screen -S LidarController ./output/Linux/Release/LidarController |
| Test if running | `sudo screen -list |
| Stop | sudo screen -S LidarController -X stuff "^C" |
[!CAUTION]
Always start the MQTT Broker first.
[!IMPORTANT]
Always use the session nameLidarController.