turtlebot2+激光雷达

turtlebot的程序默认搭载xtion或kinect深度摄像头。现在我们把它修改为激光雷达。市面上可选的激光雷达有：Hokuyo、Sick和Rplidar 一代。我们以Rplidar为例进行讲解。

创建turtlebot工作空间

安装依赖包

sudo apt-get install ros-indigo-joy 
sudo apt-get install ros-indigo-turtlebot-msgs
sudo apt-get install ros-indigo-turtlebot
sudo apt-get install ros-indigo-yocs-velocity-smoother
sudo apt-get install ros-indigo-turtlebot-rviz-launchers

下载源码包

mkdir -p  ~/turtlebot_ws/src
cd   ~/turtlebot_ws/src

## 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

## turtlebot建图依赖包
git clone https://github.com/turtlebot/turtlebot_apps
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

编译

cd  ~/turtlebot_ws
catkin_make

添加环境变量
在~/.bashrc最后添加一行：

source /home/harney/turtlebot_ws/devel/setup.bash

然后刷新配置

source ~/.bashrc

串口访问全限

创建turtlebot的串口别名

新建/etc/udev/rules.d/57-kobuki.rules，内容如下:

# On precise, for some reason, USER and GROUP are getting ignored.
# So setting mode = 0666 for now.
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="kobuki*", MODE:="0666", GROUP:="dialout", SYMLINK+="kobuki"

创建rplidar的串口别名

新建 /etc/udev/rules.d/rplidar.rules文件，内容如下：

KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout",  SYMLINK+="rplidar"  

增加对串口的默认访问权限

sudo usermod -a -G dialout 用户名

配置生效

使udev配置生效

sudo service udev reload
sudo service udev restart

使串口的默认访问权限生效，需要重启机器

修改文件

修改~/turtlebot_ws/src/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch，内容如下：

<launch>
  <include file="$(find turtlebot_bringup)/launch/minimal.launch">
  </include>
  <node name="rplidarNode"          pkg&#