Uploaded September 2018 | Updated September 2026, 2 hours ago
Come and find out a serious integration bottom up, from the Cube autopilot to swappable batteries to interchangeable payload and smart Ground Station
**** Find the Video on Ardupilot's channel ****
youtube.com/channel/UCtqkaA8BWDpISGNAfivUSHw
**** Follow Me and my Company ****
- My Company XWorks: xworkshd.com
-Twitter: @TFiorenzani
- Linkedin: tiziano-fiorenzani
- Youtube: user/prandtlmayer
- Facebook: @tiziano.fiorenzani
****** LINKS ******
- Ardupilot: ardupilot.org
- Interdrone: interdrone.com
**** Find the Video on Ardupilot's channel ****
youtube.com/channel/UCtqkaA8BWDpISGNAfivUSHw
**** Follow Me and my Company ****
- My Company XWorks: xworkshd.com
-Twitter: @TFiorenzani
- Linkedin: tiziano-fiorenzani
- Youtube: user/prandtlmayer
- Facebook: @tiziano.fiorenzani
****** LINKS ******
- Element Aero: http://element.aero/
- Ardupilot: ardupilot.org
- Interdrone: interdrone.com
Come and find out a serious integration bottom up, from the Cube autopilot to swappable batteries to interchangeable payload and smart Ground Station
**** Find the Video on Ardupilot's channel ****
youtube.com/channel/UCtqkaA8BWDpISGNAfivUSHw
**** Follow Me and my Company ****
- My Company XWorks: xworkshd.com
-Twitter: @TFiorenzani
- Linkedin: tiziano-fiorenzani
- Youtube: user/prandtlmayer
- Facebook: @tiziano.fiorenzani
****** LINKS ******
- Ardupilot: ardupilot.org
- Interdrone: interdrone.com
**** Find the Video on Ardupilot's channel ****
youtube.com/channel/UCtqkaA8BWDpISGNAfivUSHw
**** Follow Me and my Company ****
- My Company XWorks: xworkshd.com
-Twitter: @TFiorenzani
- Linkedin: tiziano-fiorenzani
- Youtube: user/prandtlmayer
- Facebook: @tiziano.fiorenzani
****** LINKS ******
- Element Aero: http://element.aero/
- Ardupilot: ardupilot.org
- Interdrone: interdrone.com

![DIY Laser Scanner with TfMini and Raspberry Pi | ROS Tutorial for beginners #7
** Visit my brand new portal at https://tiziano-school.thinkific.com/ where you can find this ROS series as a FREE course **
A Laser Scanner can be obtained by rotating a lidar, using a motor and encoder or a stepper motor. In this example well be using a simple RC servo. Once we have the scan information, it can be integrated in ROS using a LaserScan message and then visualized in Rviz
In this example we build a cheap laser scanner using a TfMini plus lidar, a servo and a Raspberry Pi. We develop a library for controlling the servo and one for reading the laser. Then we create a servo scanner library and a ROS node. Finally we visualize the scan in Rviz
NOTE [June 2019]: The TfMini Plus now works with UART and I2C
http://en.benewake.com/res/wuliu/docs/15614876323609996SJ-GU-TFmini%20Plus-01-A04-Datasheet.pdf
We will use Servoblaster for controlling the servo directly from the Raspberry Pi
*** Thanks to Benewake for supplying the TfMini plus lidar: http://en.benewake.com/ ***
MAIN VIDEO:
1:32 - How it works
3:00 - TfMini library
3:40 - Servoblaster
5:40 - Servo Scanner Library
7:03 - ROS Node
9:47 - Rviz
*** PARTS ***
Benewake TfMini Lidar: https://amzn.to/2UvDBuS
Benewake TfMini Plus Lidar: https://amzn.to/2DpV3eo
Raspberry Pi 3 B (https://amzn.to/2GvqUuN) or B+ (https://amzn.to/2Xzqf2o)
- Raspberry Pi 4 (4 GB RAM): https://amzn.to/36GqwXf
- Raspberry Pi 4 (2 GB RAM): https://amzn.to/2Aj7Pg3
- Wide angle camera: https://amzn.to/2Pwc6P7
3D printed laser bracket: https://github.com/tizianofiorenzani/ros_tutorials/tree/master/laser_scanner_tfmini/3dprint
i2c Splitter (Pixhawk style): https://amzn.to/2WxMPIS
*** FIND THE CODE:
* My Github: https://github.com/tizianofiorenzani/ros_tutorials
TfMini Github: https://github.com/TFmini/TFmini-RaspberryPi
ServoBlaster Github: https://github.com/richardghirst/PiBits/tree/master/ServoBlaster
*** WATCH THE WHOLE ROS TUTORIAL SERIES: https://www.youtube.com/playlist?list=PLuteWQUGtU9BU0sQIVqRQa24p-pSBCYNv
** DRONE TUTORIAL SERIES: https://www.youtube.com/watch?v=TFDWs_DG2QY&list=PLuteWQUGtU9BcXXr3jCG00uVXFwQJkLRa
*** Connect the TfMini to Ardupilot/Arducopter: http://ardupilot.org/copter/docs/common-benewake-tfmini-lidar.html
******** Find me on Facebook
https://www.facebook.com/tizianotutorials
******** Find me on Linkedin
https://www.linkedin.com/in/tiziano-fiorenzani/
******** Find me on Twitter
https://twitter.com/TFiorenzani
** Go to my channel: https://goo.gl/BjLGnS
** Check out my latest video: https://goo.gl/ZhcNi4
** Check out my most popular video: https://goo.gl/5KMJnU
#ros #tutorial #laserscanner #lidar DIY Laser Scanner with TfMini and Raspberry Pi | ROS Tutorial for beginners #7](https://i.ytimg.com/vi/NqkvlIHe4Yg/mqdefault.jpg)








