使用Rplidar a1激光雷达进行gmapping建图
安装依赖包
sudo apt-get install ros-indigo-serial ros-indigo-turtlebot-rviz-launchres
mkdir -p ~/dashgo_ws/src
cd ~/dashgo_ws/src
## dashgo SLAM版本
git clone https://github.com/EAIBOT/dashgo.git
cd dashgo
git checkout slam_01
## 激光雷达rplidar 一代驱动
git clone https://github.com/robopeak/rplidar_ros.git
cd rplidar_ros
git checkout 1.0.1
## 建图依赖包
git clone https://github.com/ros-perception/slam_gmapping
git clone https://github.com/ros-perception/openslam_gmapping
git clone https://github.com/ros-planning/navigation.git
然后编译
串口访问全限
#创建dashgo和rplidar的串口别名的访问
roscd dashgo_bringup/startup
sudo sh create_dashgo_udev.sh
sudo sh create_rplidar_udev.sh
运行
roslaunch dashgo_nav gmapping_demo.launch
rosrun dashgo_bringup teleop_twist_keyboard.py
roslaunch turtlebot_rviz_launchers view_navigation.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
注意:ROS_MASTER_URI的IP要根据实际情况来定。
树莓派端再启动一个窗口控制小车底盘运动
rosrun dashgo_bringup teleop_twist_keyboard .py保存地图
roscd dashgo_nav/maps
rosrun map_server map_saver -f my_map
运行效果如下图: