rplidar包安装
安装并编译
cd ~/catkin_ws/src
git clone https://github.com/robopeak/rplidar_ros.git
cd ~/catkin_ws
catkin_make --pkg rplidar_ros
hector_mapping包安装
安装方式如下:
sudo apt-get install ros-indigo-hector-slam
测试
在rplidar_ros/launch/目录下添加hector_mapping_demo.launch文件,内容如下:
<launch>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame"