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+# SLAMTEC LIDAR ROS2 Package
+
+ROS2 node for SLAMTEC LIDAR
+
+Visit following Website for more details about SLAMTEC LIDAR:
+
+SLAMTEC LIDAR roswiki: <http://wiki.ros.org/rplidar>
+
+SLAMTEC LIDAR HomePage: <http://www.slamtec.com/en/Lidar>
+
+SLAMTEC LIDAR SDK: <https://github.com/Slamtec/rplidar_sdk>
+
+SLAMTEC LIDAR Tutorial: <https://github.com/robopeak/rplidar_ros/wiki>
+
+## Supported SLAMTEC LIDAR
+
+| Lidar Model |
+| ---------------------- |
+|RPLIDAR A1              |
+|RPLIDAR A2              |
+|RPLIDAR A3              |
+|RPLIDAR C1              |
+|RPLIDAR S1              |
+|RPLIDAR S2              |
+|RPLIDAR S3              |
+|RPLIDAR S2E             |
+|RPLIDAR T1              |
+
+## How to install ROS2
+
+[rolling](https://docs.ros.org/en/rolling/Installation.html),
+[humble](https://docs.ros.org/en/humble/Installation.html),
+[galactic](https://docs.ros.org/en/galactic/Installation.html),
+[foxy](https://docs.ros.org/en/foxy/Installation.html)
+
+## How to configuring your ROS 2 environment
+
+[Configuring your ROS 2 environment](https://docs.ros.org/en/foxy/Tutorials/Configuring-ROS2-Environment.html)
+
+## How to Create a ROS2 workspace
+
+[ROS2 Tutorials Creating a workspace](https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html)
+
+1. example, choose the directory name ros2_ws, for "development workspace" :
+
+   ```bash
+   mkdir -p ~/ros2_ws/src
+   cd ~/ros2_ws/src
+   ```
+
+## Compile & Install sllidar_ros2 package
+
+1. Clone sllidar_ros2 package from github
+
+   Ensure you're still in the ros2_ws/src directory before you clone:
+
+   ```bash
+   git clone https://github.com/Slamtec/sllidar_ros2.git
+   ``` 
+
+2. Build sllidar_ros2 package
+
+   From the root of your workspace (ros2_ws), you can now build sllidar_ros2 package using the command:
+
+   ```bash
+   cd ~/ros2_ws/
+   source /opt/ros/<rosdistro>/setup.bash
+   colcon build --symlink-install
+   ```
+
+   if you find output like "colcon:command not found",you need separate [install colcon](https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html#install-colcon) build tools.
+
+3. Package environment setup
+
+    ```bash
+    source ./install/setup.bash
+    ```
+
+    Note: Add permanent workspace environment variables.
+    It's convenientif the ROS2 environment variables are automatically added to your bash session every time a new shell is launched:
+
+    ```bash
+    $echo "source <your_own_ros2_ws>/install/setup.bash" >> ~/.bashrc
+    $source ~/.bashrc
+    ```
+
+4. Create udev rules for rplidar
+
+   sllidar_ros2 running requires the read and write permissions of the serial device.
+   You can manually modify it with the following command:
+
+   ```bash
+   sudo chmod 777 /dev/ttyUSB0
+   ```
+
+   But a better way is to create a udev rule:
+
+   ```bash
+   cd src/rpldiar_ros/
+   source scripts/create_udev_rules.sh
+   ```
+
+## Run sllidar_ros2
+
+### Run sllidar node and view in the rviz
+
+The command for RPLIDAR A1 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_a1_launch.py
+```
+
+The command for RPLIDAR A2M7 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_a2m7_launch.py
+```
+
+The command for RPLIDAR A2M8 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_a2m8_launch.py
+```
+
+The command for RPLIDAR A2M12 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_a2m12_launch.py
+```
+
+The command for RPLIDAR A3 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_a3_launch.py
+```
+
+The command for RPLIDAR C1 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_c1_launch.py
+```
+
+The command for RPLIDAR S1 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_s1_launch.py
+```
+
+The command for RPLIDAR S2 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_s2_launch.py
+```
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_s2e_launch.py
+```
+
+The command for RPLIDAR S3 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_s3_launch.py
+```
+
+
+The command for RPLIDAR T1 is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_t1_launch.py
+```
+
+The command for RPLIDAR S1(TCP connection) is :
+
+```bash
+ros2 launch sllidar_ros2 view_sllidar_s1_tcp_launch.py
+```
+
+Notice: different lidar use different serial_baudrate.
+
+## RPLIDAR frame
+
+RPLIDAR frame must be broadcasted according to picture shown in rplidar-frame.png