Costmap_2d Package （代价地图包）

MRPT关于rplidar激光雷达的错误

Costmap_2d Package （代价地图包）

ROS进阶学习手记 7 -- RViz仿真实例1

Firefly-RK3288

转串口芯片驱动程序安装cp210x,pl2303

How to build rplidar ros package

安装并配置ROS环境1

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

1.     Building a map

2.     Generating a GeoTiff map

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.