rviz 显示激光雷达数据

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