rplidarOnUbuntu18.04

「rplidar + ros」 で検索したらrplidarが見つかった．
apt-cache で探してみたら，ros-melodic-rplidar-ros が見つかった．入れちゃえ．

sudo apt-get install ros-melodic-rplidar-ros

source /opt/ros/melodic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
cd src
git clone https://github.com/Slamtec/rplidar_ros
cd ..
catkin_make rplidar_ros
cd build
make rplidar_ros
sudo make install

 roslaunch rplidar_ros view_rplidar_a3.launch #for rplidar A3

よし，rviz で確認できた．

rosrun rplidar_ros rplidarNodeClient

こちらも確認できました．

sudo apt-get install ros-melodic-slam-gmapping