http://blog.csdn.net/hongliang2009/article/details/73302986
双目视觉/激光是机器人导航的关键部位,手头激光是hokuyou据说上万大洋,不过查看urg_node好像没有kinetic的版本。根据前人大神经验,实践记录如下。-2017.06.15 乐
安装urg_node
cd ~/catkin_ws/src/ mkdir hokuyo cd hokuyo git clone https://github.com/ros-drivers/driver_common.git cd ~/catkin_ws/src/hokuyo/driver_common/driver_base/ mkdir build cd build cmake .. make sudo make install cd ~/catkin_ws/src/hokuyo/driver_common/driver_common/ mkdir build cd build cmake .. make sudo make install cd ~/catkin_ws/src/hokuyo/driver_common/timestamp_tools/ mkdir build cd build cmake .. make sudo make install
/catkin_ws/src/hokuyo git clone https://github.com/ros-perception/laser_proc.git git clone https://github.com/ros-drivers/urg_c.git //git clone https://github.com/ros-drivers/hokuyo_node.git //cd ~/catkin_ws/src/hokuyo/laser_proc //mkdir build //cd build //cmake .. //make //sudo make install catkin_make -DCATKIN_WHITELIST_PACKAGES= "urg_node" cd ~/catkin_ws/src/hokuyo git clone https://github.com/ros-drivers/urg_node cd urg_node mkdir build cd build rosdep install --from-paths ~/catkin_ws/src --ignore-src catkin_make -DCATKIN_WHITELIST_PACKAGES= "urg_node" cd ~/catkin_ws catkin_make install
2、启动roscoreroscore
3、启动激光(激光IP192.168.0.10)rosrun urg_node urg_node _ip_address:=192.168.0.10
4、查看距离` rostopic list
rostopic echo /scan
5、rviz查看rosrun rviz rviz
add添加laser topic ,如果提示fix frame无坐标错误,将启动的坐标位置fixed frame 的map手动改为laser。
打完收工!