This repository contains various ROS packages that allows you to interface with your Omron LD Mobile Robot via the ROS environment.

1. Capture LD status information
   • General status of LD
   • Laser scan values
   • Odometer values
   • Map goals
   • Application fault messages
2. Visualize LD via RVIZ tool
   • Display loaded map
   • Display live laser scans
   • Display forbidden areas
   • Display map goals
3. Navigate LD via RVIZ tool
   • Go to specified point

For details on the packages' inner workings, see the Developer's Guide.

ROS is not able to have access to robot hardware, therefore this package does not have full access to all LD's capabilities. This package uses ARCL to communicate and control the LD and thus the limitations of this package is defined by ARCL's limitations.

ARCL Reference Guide, 18448-000 Rev A, Updated: 1/19/2017 which is included in root directory of this repository.