How to build rplidar ros package
How to build rplidar ros package
1) Clone this project to your catkin's workspace src folder
2) Running catkin_make to build rplidarNode and rplidarNodeClient
How to run rplidar ros package
There're two ways to run rplidar ros package
分别打开4个终端，
1.$ roscore
2.$ roslaunch rplidar_ros view_rplidar.launch
3.roslaunch rplidar_ros rplidar.launch
4.rosrun rplidar_ros rplidarNodeClient
I. Run rplidar node and view in the rviz
roslaunch rplidar_ros view_rplidar.launch
You should see rplidar's scan result in the rviz.
II. Run rplidar node and view using test application
roslaunch rplidar_ros rplidar.launch
rosrun rplidar_ros rplidarNodeClient
You should see rplidar's scan result in the console
How to build a Map Using Logged Data
Description: This tutorial shows you how to create a2-D map from logged transform and laser scan data.
Tutorial Level: BEGINNER
Contents
Building a map
1. Make sure you have installedhector_slam correctly. The easiest option is to install using the packagemanager (example for ROS indigo):
sudoapt-get install ros-indigo-hector-slam
2. Get a bagfile to work with. Forthis tutorial, we will use the RoboCup 2011 Rescue Arena bagfile we recorded with a handheld mapping system.Download it to the current directory using wget:
wgethttp://tu-darmstadt-ros-pkg.googlecode.com/files/Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
You can also try the other bagfileswe provide here: http://code.google.com/p/tu-darmstadt-ros-pkg/downloads/list
3. Start the hector_slam system:
roslaunchhector_slam_launch tutorial.launch
This launch file starts the hector_mapping node as well as the hector_trajectory_server and hector_geotiff nodes needed for generating geotiffmaps. Add the desired displayed types using the 'Add' button, e.g. the Map typeand Point Cloud type, to visualize the desired datas.
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