1、修改激光的权限
临时修改,开机后清除
ls -l /dev/ttyACM0
sudo chmod a+rw /dev/ttyACM0
永久修改
sudo cp 20-urglidar.rules /etc/udev/rules.d/
sudo /etc/init.d/udev restart
20-urglidar.rules 里内容
# On precise, for some reason, USER and GROUP are getting ignored.
# So setting mode = 0666 for now.
SUBSYSTEM=="tty", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE:="0666", GROUP:="dialout", SYMLINK+="urg"
# Bluetooth module (currently not supported and may have problems)
# SUBSYSTEM=="tty", ATTRS{address}=="00:00:00:41:48:22", MODE:="0666", GROUP:="dialout", SYMLINK+="kobuki"
2、运行激光驱动节点
roscore
roslaunch urg_node urg_lidar.launch
3、rviz显示
rviz
fixed frame设置为/laser_link
Add display type laser scan
选择topic /scan