使用 rplidar测试hector_mapping

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"