Add image and streaming from USB camera

Plus a little freshen up of the readme's
2026-05-07 16:38:36 +00:00
parent 59a019ed7b
commit ef78f19e72
18 changed files with 1080 additions and 327 deletions
@@ -5,6 +5,26 @@ official `sllidar_ros2` driver.

 ---

+## Architecture
+
+```
+                        ┌──────────────────────────────────────┐
+                        │  sllidar_ros2 (rplidar_node)         │
+                        │                                      │
+                        │  serial 115200 baud                  │
+                        │  angle_compensate = true             │
+                        │  scan_mode = Sensitivity             │
+                        │         ▼                            │
+                        │   /dev/ttyUSB0 ──────> RPLIDAR A1   │
+                        │                                      │
+ /scan          <───────│  LaserScan @ ~10 Hz                  │
+ (sensor_msgs/          │  360° scan, range 0.15–12 m          │
+  LaserScan)            │                                      │
+                        └──────────────────────────────────────┘
+```
+
+---
+
 ## How the build works

 The driver source lives in `lidar/sllidar_ros2/` as a **git subtree** of this