Lidar Controller

Overview

The Lidar Controller (C++) controls the LiDAR sensor — an SLAMTEC RPLIDAR A1M8.

It scans, parses, and publishes environment data to the MQTT broker using the RPLIDAR SDK.

---

Features

• Accepts commands to start/stop scanning.
• Publishes new LiDAR data frequently on a dedicated MQTT topic.

---

Commands

Action	Command
Compile	make build_app
Run	sudo screen -S LidarController ./output/Linux/Release/LidarController
Test if running	`sudo screen -list
Stop	sudo screen -S LidarController -X stuff "^C"

Caution

Always start the MQTT Broker first.

Important

Always use the session name LidarController.